The urglaser driver controls the Hokuyo URG scanning laser range-finder. Communication with the laser can be either via USB or RS232. The driver supports both Hokuyo's SCIP1 and 2 protocols.
- Compile-time dependencies
- Provides
- Requires
- Configuration requests
- PLAYER_LASER_REQ_GET_GEOM
- PLAYER_LASER_REQ_GET_CONFIG
- PLAYER_LASER_REQ_SET_CONFIG
- PLAYER_LASER_REQ_GET_ID
- Configuration file options
- port (string)
- Default: "/dev/ttyACM0"
- Port to which the laser is connected. Can be either a serial port or the port associated with USB acm device. See use_serial.
- pose (float tuple m m rad)
- 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).
- min_angle, max_angle (angle float)
- Default: [-2.094 2.094] (or [-120.0 120.0] in degrees)
- Minimum and maximum scan angles to return
- use_serial (integer)
- Default: 0
- If non-zero, communicate via RS232 instead of USB.
- baud (integer)
- Default: 115200
- Baud rate to use when communicating with the laser over RS232. Valid rates are: 19200, 57600, and 115200. The driver will auto-detect the current rate then change to the desired rate.
- Example
driver
(
name "urglaser"
provides ["laser:0"]
port "/dev/ttyACM0"
)
- Author:
- Toby Collett, Nico Blodow
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Last updated 12 September 2005 21:38:45
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