ranger format

ranger log format More...

ranger log format

The following type:subtype ranger messages can be logged:

• 1:1 (PLAYER_RANGER_DATA_RANGE) - A range scan. The format is:
  • ranges_count (uint): number of ranges
  • list of ranges_count ranges:
    • range (double): distance

• 1:2 (PLAYER_RANGER_DATA_RANGEPOSE) - A range scan optionally with the (possibly estimated) geometry of the device when the scan was acquired and optional sensor configuration. The format is:
  • ranges_count (uint): number of ranges
  • list of ranges_count ranges:
    • range (double): distance
  • have_geom (uint8): If non-zero, the geometry data has been filled
  • geometry of device at the time of range data:
    • pose of device:
      • px (float): X coordinate of the pose, in meters
      • py (float): Y coordinate of the pose, in meters
      • pz (float): Z coordinate of the pose, in meters
      • proll (float): roll coordinate of the pose, in radians
      • ppitch (float): pitch coordinate of the pose, in radians
      • pyaw (float): yaw coordinate of the pose, in radians
    • size of device:
      • sw (float): width of the device, in meters
      • sl (float): length of the device, in meters
      • sh (float): height of the device, in meters
    • element_poses_count (uint): pose of each individual range sensor that makes up the device
    • list of element_poses_count poses:
      • px (float): X coordinate of the pose, in meters
      • py (float): Y coordinate of the pose, in meters
      • pz (float): Z coordinate of the pose, in meters
      • proll (float): roll coordinate of the pose, in radians
      • ppitch (float): pitch coordinate of the pose, in radians
      • pyaw (float): yaw coordinate of the pose, in radians
    • element_sizes_count (uint): size of each individual range sensor that makes up the device
    • list of element_sizes_count sizes:
      • sw (float): width of the device, in meters
      • sl (float): length of the device, in meters
      • sh (float): height of the device, in meters
  • have_config(uint8): If non-zero, the config data has been filled
  • config of device:
    • min_angle (float): start angle of scans, in radians
    • max_angle (float): end angle of scans, in radians
    • angular_res (float): scan resolution, in radians
    • min_range (float): minimum range, in meters
    • max_range (float): maximum range, in meters
    • range_res (float): range resolution, in meters
    • frequency (float): scanning frequency, in Hz

• 1:3 (PLAYER_RANGER_DATA_INTNS) - An intensity scan. The format is:
  • intensities_count (uint): number of intensities
  • list of intensities_count intensities:
    • intensity (double)

• 1:4 (PLAYER_RANGER_DATA_ITNSPOSE) - An intensity scan with an attached pose (estimated from the time of the scan). The format is:
  • intensities_count (uint): number of intensities
  • list of intensities_count intensities:
    • intensity (double)
  • have_geom (uint8): If non-zero, the geometry data has been filled
  • geometry of device at the time of intensity data:
    • pose of device:
      • px (float): X coordinate of the pose, in meters
      • py (float): Y coordinate of the pose, in meters
      • pz (float): Z coordinate of the pose, in meters
      • proll (float): roll coordinate of the pose, in radians
      • ppitch (float): pitch coordinate of the pose, in radians
      • pyaw (float): yaw coordinate of the pose, in radians
    • size of device:
      • sw (float): width of the device, in meters
      • sl (float): length of the device, in meters
      • sh (float): height of the device, in meters
    • element_poses_count (uint): pose of each individual range sensor that makes up the device
    • list of element_poses_count poses:
      • px (float): X coordinate of the pose, in meters
      • py (float): Y coordinate of the pose, in meters
      • pz (float): Z coordinate of the pose, in meters
      • proll (float): roll coordinate of the pose, in radians
      • ppitch (float): pitch coordinate of the pose, in radians
      • pyaw (float): yaw coordinate of the pose, in radians
    • element_sizes_count (uint): size of each individual range sensor that makes up the device
    • list of element_sizes_count sizes:
      • sw (float): width of the device, in meters
      • sl (float): length of the device, in meters
      • sh (float): height of the device, in meters
  • have_config(uint8): If non-zero, the config data has been filled
  • config of device:
    • min_angle (float): start angle of scans, in radians
    • max_angle (float): end angle of scans, in radians
    • angular_res (float): scan resolution, in radians
    • min_range (float): minimum range, in meters
    • max_range (float): maximum range, in meters
    • range_res (float): range resolution, in meters
    • frequency (float): scanning frequency, in Hz

• 4:1 (PLAYER_RANGER_REQ_GET_GEOM) - Ranger pose information. The format is:
  • pose of device:
    • px (float): X coordinate of the pose, in meters
    • py (float): Y coordinate of the pose, in meters
    • pz (float): Z coordinate of the pose, in meters
    • proll (float): roll coordinate of the pose, in radians
    • ppitch (float): pitch coordinate of the pose, in radians
    • pyaw (float): yaw coordinate of the pose, in radians
  • size of device:
    • sw (float): width of the device, in meters
    • sl (float): length of the device, in meters
    • sh (float): height of the device, in meters
  • element_poses_count (uint): pose of each individual range sensor that makes up the device
  • list of element_poses_count poses:
    • px (float): X coordinate of the pose, in meters
    • py (float): Y coordinate of the pose, in meters
    • pz (float): Z coordinate of the pose, in meters
    • proll (float): roll coordinate of the pose, in radians
    • ppitch (float): pitch coordinate of the pose, in radians
    • pyaw (float): yaw coordinate of the pose, in radians
  • element_sizes_count (uint): size of each individual range sensor that makes up the device
  • list of element_sizes_count sizes:
    • sw (float): width of the device, in meters
    • sl (float): length of the device, in meters
    • sh (float): height of the device, in meters