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lasercspace [Drivers] 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. Standard laser scan Corresponding C-space scan for a robot of 0.5 m Compile-time dependencies none Provides laser : output of the C-space scan Requires laser : raw laser data from which to make C-space scan Configuration requests PLAYER_LASER_GET_GEOM Configuration file options radius (length) Default: 0.5 m Radius of robot for which to make C-space scan step (integer) Default: 1 Step size for subsampling the scan (saves CPU cycles) Example driver ( name "sicklms200" provides ["laser:0"] port "/dev/ttyS0" ) driver ( name "lasercspace" requires ["laser:0"] # read from laser:0 provides ["laser:1"] # output results on laser:1 radius 0.5 ) Authors Andrew Howard