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sickpls [Drivers] The sickpls driver controls the SICK PLS scanning laser range-finder. This driver will likely be merged into the sicklms200 driver (eventually). Compile-time dependencies none Provides laser Requires none Configuration requests PLAYER_LASER_GET_GEOM PLAYER_LASER_GET_CONFIG PLAYER_LASER_SET_CONFIG Configuration file options port (string) Default: "/dev/ttyS1" Serial port to which laser is attached. If you are using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx". rate (integer) Default: 9600 Baud rate. Valid values are 9600, 38400 (RS232 or RS422) and 500000 (RS422 only). delay (integer) Default: 0 Delay (in seconds) before laser is initialized (set this to 35 if you have a newer generation Pioneer whose laser is switched on when the serial port is open). resolution (integer) Default: 50 Angular resolution. Valid values are: resolution 50 : 0.5 degree increments, 361 readings @ 5Hz (38400) or 32Hz (500000). resolution 100 : 1 degree increments, 181 readings @ 10Hz (38400) or 75Hz (500000). invert (integer) Default: 0 Is the laser physically inverted (i.e., upside-down)? Is so, scan data will be reversed accordingly. pose (length tuple) Default: [0.0 0.0 0.0] Pose (x,y,theta) of the laser, relative to its parent object (e.g., the robot to which the laser is attached). Example driver ( name "sickpls" provides ["laser:0"] port "/dev/ttyS0" ) Authors Yannick Brosseau, Andrew Howard