hokuyo_aist

Gearbox hokuyo_aist Hokuyo laser scanner driver library. More...

Gearbox hokuyo_aist Hokuyo laser scanner driver library.

This driver provides a ranger interface to the hokuyo_aist Hokuyo laser scanner driver provided by Gearbox. Communication with the laser is via the Gearbox Flexiport library. The driver supports the SCIP protocol versions 1 and 2.

Compile-time dependencies

• Gearbox library hokuyo_aist
• Gearbox library flexiport

Provides

• ranger : Output ranger interface

Configuration requests

• PLAYER_RANGER_REQ_INTNS
• PLAYER_RANGER_REQ_POWER
• PLAYER_RANGER_REQ_GET_GEOM
• PLAYER_RANGER_REQ_GET_CONFIG
• PLAYER_RANGER_REQ_SET_CONFIG
• Note: Only the min_angle and max_angle values can be configured using this request. To change the scanning frequency, use the speed_level property.

Configuration file options

• get_intensities (boolean)
  • Default: false
  • Set to non-zero to get intensity data with each range scan on models that support it. This can also be enabled/disabled using the PLAYER_RANGER_REQ_INTNS message. Note that the data retrieval mode used to get intensity data requires that the scan is performed *after* the command is received, so this will introduce a slight delay before the data is delivered.
• portopts (string)
  • Default: "type=serial,device=/dev/ttyACM0,timeout=1"
  • Options to create the Flexiport port with. Note that any baud rate specified in this line should be the scanner's startup baud rate.
• 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: -4.0 rad (Will use laser default)
  • Minimum scan angle to return. Will be adjusted if outside the laser's scannable range.
• max_angle (float, radians)
  • Default: 4.0 rad (Will use laser default)
  • Maximum scan angle to return. Will be adjusted if outside the laser's scannable range.
• 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.
• ignoreunknowns (boolean)
  • Default: false
  • Ignore unknown lines sent by the laser in response to sensor info request commands.

Properties

• baud_rate (integer)
  • Default: 19200bps
  • Change the baud rate of the connection to the laser. See hokuyo_aist documentation for valid values. This is separate from the scanner's power-on default baud rate, which should be specified in portopts.
• speed_level (integer, 0 to 10 or 99)
  • Default: 0
  • The speed at which the laser operates, as a level down from maximum speed. See the hokuyo_aist library documentation for suitable values.
• high_sensitivity (integer)
  • Default: 0
  • Set to non-zero to enable high sensitivity mode on models that support it.
• min_dist (float, metres)
  • Default: 0m
  • Minimum possible distance. Below that means there is an error (a scratch on the laser for instance). The reading is then adjusted to the average of the neighboring valid beams.
• hw_timestamps (boolean)
  • Default: false
  • When false, the server will use server time stamps in data messages. When true, the time stamp in the laser data will be used.

Example

 driver
 (
     name "hokuyo_aist"
     provides ["ranger:0"]
     portopts "type=serial,device=/dev/ttyS0,timeout=1"
 )
 

Author:

Geoffrey Biggs