sonartoranger

Sonar-to-Ranger converter. More...

Sonar-to-Ranger converter.

This driver translates data provided via the sonar interface into the ranger interface.

Compile-time dependencies

• None

Provides

• ranger : Output ranger interface

Requires

• sonar : Sonar interface to translate

Configuration requests

• PLAYER_RANGER_REQ_GET_GEOM
• PLAYER_RANGER_REQ_POWER

Configuration file options

• buggy_geom (integer)
  • Default: 0
  • If set to 1, the pz, proll and ppitch fields will be set to 0.0
  • This option is added to provide compatibility with old buggy sonar drivers that do not clean unused geometry structure fields

Example

driver
(
  name "p2os"
  provides ["sonar:0"]
)
driver
(
  name "sonartoranger"
  requires ["sonar:0"] # read from sonar:0
  provides ["ranger:0"] # output results on ranger:0
)

Author:

Geoffrey Biggs