laserrescan
[Drivers]

Collaboration diagram for laserrescan:

The laserrescan driver processes a laser scan to create a virtual scan configuration. Existing scans are interpolated.

The driver was created for the purpose of using pmap with non-sick scanners

Compile-time dependencies

none

Provides

laser : output of the rescan

Requires

laser : raw laser data from which to interpolate

Configuration requests

PLAYER_LASER_REQ_GET_GEOM

Configuration file options

min_angle (float)
- Default: -pi/2
- Minimum angle of the new scan data
max_angle (float)
- Default: pi/2
- Maximum angle of the new scan data
scan_count (int)
- Default: 181
- Number of scans from min angle to max angle

Example

driver
(
  name "sicklms200"
  provides ["laser:0"]
  port "/dev/ttyS0"
)
driver
(
  name "laserrescan"
  requires ["laser:0"] # read from laser:0
  provides ["laser:1"] # output results on laser:1
)

Author:: Toby Collett

Last updated 12 September 2005 21:38:45