hokuyo_aist
[Drivers]
Collaboration diagram for hokuyo_aist:
|
- Compile-time dependencies
- Gearbox library hokuyo_aist
- Gearbox library flexiport
- Provides
- ranger : Output ranger interface
- Configuration requests
- PLAYER_RANGER_REQ_GET_GEOM
- PLAYER_RANGER_REQ_GET_CONFIG
- PLAYER_RANGER_REQ_SET_CONFIG
- PLAYER_RANGER_REQ_POWER
- Note: Only the min_angle, max_angle and frequency values can be configured using this request. In addition, the frequency value must be equivalent to a suitable RPM value (see the hokuyo_aist library documentation for suitable values).
- Configuration file options
- portopts (string)
- Default: "type=serial,device=/dev/ttyACM0,timeout=1"
- Options to create the Flexiport port with.
- pose (float 6-tuple: (m, m, m, rad, rad, rad))
- Default: [0.0 0.0 0.0 0.0 0.0 0.0]
- Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent object (e.g. the robot).
- size (float 3-tuple: (m, m, m))
- Default: [0.0 0.0 0.0]
- Size of the laser in metres.
- min_angle (float, radians)
- Default: -2.08 rad (-119.0 degrees)
- Minimum scan angle to return. Will be adjusted if outside the laser's scannable range.
- max_angle (float, radians)
- Default: 2.08 rad (119.0 degrees)
- Maximum scan angle to return. Will be adjusted if outside the laser's scannable range.
- frequency (float, Hz)
- Default: 10Hz
- The frequency at which the laser operates. This must be equivalent to a suitable RPM value. See
- the hokuyo_aist library documentation for suitable values.
- power (boolean)
- Default: true
- If true, the sensor power will be switched on upon driver activation (i.e. when the first client connects). Otherwise a power request must be made to turn it on before data will be received.
- verbose (boolean)
- Default: false
- Enable verbose debugging information in the underlying library.
- Properties
- baudrate (integer)
- Default: 19200bps
- Change the baud rate of the connection to the laser. See hokuyo_aist documentation for valid values.
- Example
driver
(
name "hokuyo_aist"
provides ["ranger:0"]
portopts "type=serial,device=/dev/ttyS0,timeout=1"
)