The lasercspace driver processes a laser scan to compute the configuration space (`C-space') boundary. That is, it shortens the range of each laser scan such that the resultant scan delimits the obstacle-free portion of the robot's configuration space. This driver is particular useful for writing obstacle avoidance algorithms, since the robot may safely move to any point in the obstacle-free portion of the configuration space.
Note that driver computes the configuration space for a robot of some fixed radius; this radius may be set in the configuration file.
Supported configuration requests:
|integer||0||Index of the laser device to use.|