laser
[Interface specifications]
Detailed Description
Laser range-finder.The laser interface provides access to a single-origin scanning range sensor, such as a SICK laser range-finder (e.g., sicklms200).
Devices supporting the laser interface can be configured to scan at different angles and resolutions. As such, the data returned by the laser interface can take different forms. To make interpretation of the data simple, the laser data packet contains some extra fields before the actual range data. These fields tell the client the starting and ending angles of the scan, the angular resolution of the scan, and the number of range readings included. Scans proceed counterclockwise about the laser (0 degrees is forward). The laser can return a maximum of PLAYER_LASER_MAX_SAMPLES readings; this limits the valid combinations of scan width and angular resolution.
| #define | PLAYER_LASER_MAX_SAMPLES 1024 |
| The maximum number of laser range values. | |
| #define | PLAYER_LASER_DATA_SCAN 1 |
| Data subtype: scan. | |
| #define | PLAYER_LASER_DATA_SCANPOSE 2 |
| Data subtype: pose-stamped scan. | |
| #define | PLAYER_LASER_REQ_GET_GEOM 1 |
| Request/reply subtype: get geometry. | |
| #define | PLAYER_LASER_REQ_SET_CONFIG 2 |
| Request/reply subtype: get configuration. | |
| #define | PLAYER_LASER_REQ_GET_CONFIG 3 |
| Request/reply subtype: set configuration. | |
| #define | PLAYER_LASER_REQ_POWER 4 |
| Request/reply subtype: set power. | |
| typedef player_laser_data | player_laser_data_t |
| Data: scan (PLAYER_LASER_DATA_SCAN). | |
| typedef player_laser_data_scanpose | player_laser_data_scanpose_t |
| Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE). | |
| typedef player_laser_geom | player_laser_geom_t |
| Request/reply: Get geometry. | |
| typedef player_laser_config | player_laser_config_t |
| Request/reply: Get/set scan properties. | |
| typedef player_laser_power_config | player_laser_power_config_t |
| Request/reply: Turn power on/off. |
Typedef Documentation
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Request/reply: Get/set scan properties. The scan configuration (resolution, aperture, etc) can be queried by sending a null PLAYER_LASER_REQ_GET_CONFIG request and modified by sending a PLAYER_LASER_REQ_SET_CONFIG request. In either case, the current configuration (after attempting any requested modification) will be returned in the response. Read the documentation for your driver to determine what configuration values are permissible. |
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Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE). A laser scan with a pose that indicates the (possibly esimated) pose of the laser when the scan was taken. |
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Data: scan (PLAYER_LASER_DATA_SCAN). The basic laser data packet. |
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Request/reply: Get geometry. The laser geometry (position and size) can be queried by sending a null PLAYER_LASER_REQ_GET_GEOM request. |
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Request/reply: Turn power on/off. Send a PLAYER_LASER_REQ_POWER request to turn laser power on or off (assuming your hardware supports it). |