Collaboration diagram for ranger:
Detailed DescriptionA range sensor.
Receive data from a range sensor, such as a laser scannar, sonar array or IR array.
|Data subtype: range scan. |
|Data subtype: pose-stamped range scan. |
|Data subtype: intensity scan. |
|Data subtype: pose-stamped intensity scan. |
|Data subtype: sensor geometry. |
|Request/reply subtype: get geometry. |
|Request/reply subtype: power config. |
|Request/reply subtype: intensity data config. |
|Request/reply subtype: set configuration. |
|Request/reply subtype: get configuration. |
|Data and Request/reply: Get geometry. |
|Data: range scan (PLAYER_RANGER_DATA_RANGE). |
|Data: pose-stamped range scan (PLAYER_RANGER_DATA_RANGEPOSE). |
|Data: intensity scan (PLAYER_RANGER_DATA_INTNS). |
|Data: post-stamped intensity scan (PLAYER_RANGER_DATA_INTNSPOSE). |
|Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER). |
|Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS). |
|Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG). |
Data: intensity scan (PLAYER_RANGER_DATA_INTNS).
A set of intensity readings.
Data: post-stamped intensity scan (PLAYER_RANGER_DATA_INTNSPOSE).
An intensity scan with the (possibly estimated) pose of the device when the scan was acquired.
Data: range scan (PLAYER_RANGER_DATA_RANGE).
The basic ranger scan data packet, containing a set of range readings.
Data: pose-stamped range scan (PLAYER_RANGER_DATA_RANGEPOSE).
A range scan with the (possibly estimated) pose of the device when the scan was acquired.
Data and Request/reply: Get geometry.
The ranger device position, orientation and size.
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS).
If the device is capable of providing intensity information (such as laser reflection intensity or IR voltage), this will enable the transmission of the data in the PLAYER_RANGER_DATA_INTNS data message.
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER).
If the device supports it, use this message to turn the power on or off.