RS4LeuzeLaser

RS4-E leuze laser range-finder. More...

RS4-E leuze laser range-finder.

The RS4-LeuzeLaser driver acquire date from the Leuze RS4 scanning laser range-finder. Communication with the laser is via RS232.

Compile-time dependencies

• none

Provides

• laser

Requires

• none

Configuration requests

• PLAYER_LASER_REQ_GET_GEOM
• PLAYER_LASER_REQ_GET_CONFIG
• PLAYER_LASER_REQ_SET_CONFIG

Configuration file options

• port (string)
  • Default: "/dev/ttyS1"
  • Port to which the laser is connected. If you are using a USB/232 converter, this will be "dev/ttyUSBx".
• pose (float tuple m m rad)
  • Default: [0.0 0.0 0.0]
  • Pose (x,y,theta) of the laser, relative to its parent object (e.g., the robot to which the laser is attached).
• min_angle, max_angle (angle float)
  • Default: [] (or [-5.04 185.04] in degrees)
  • Minimum and maximum scan angles to return
• baud (integer)
  • Default: 57600
  • Baud rate to use when communicating with the laser over RS232. Valid rates are: 4800, 9600, 19200, 38400, 57600, and 115200. It should be chosen accordingly with the RS4 laser settings.
• scan_points (integer)
  • Default: 132
  • Others : 176, 264, 528
• invert_data(bool)
  • Default: 1 (invert_data_on) Leuze data must be inverted in order to be used in player
  • 0 (invert_data_off) - Is the laser physically inverted (i.e., upside-down)? Is so, scan data will not be reversed accordingly.

Example

driver
(
  name  "rs4leuzelaser"
  plugin "RS4LeuzeLaserDriver.la"
  provides ["laser:0"]
  port "/dev/ttyS1"
  scan_points "528"
  #invert_data "0"

)

Author

Ernesto Homar Teniente Avilés IRI-UPC CONACYT-Schoolarship