laserbar

Laser bar detector. More...

Laser bar detector.

The laser bar detector searches for retro-reflective targets in the laser range finder data. Targets can be either planar or cylindrical, as shown below. For planar targets, the range, bearing and orientation will be determined; for cylindrical targets, only the range and bearing will be determined. The target size and shape can be set in the configuration file.

The range at which targets can be detected is dependant on the target size, the angular resolution of the laser and the quality of the retro-reflective material used on the target.

See also the laserbarcode and laservisualbarcode drivers.

A sample laser bar (ignore the colored bands)

Compile-time dependencies

• none

Provides

• This driver provides detected target information through a fiducial device.

Requires

• This driver finds targets in scans from a laser device.

Configuration requests

• PLAYER_FIDUCIAL_REQ_GET_GEOM

Configuration file options

• width (length)
  • Default: 0.08 m
  • Target width.
• tol (length)
  • Default: 0.5 m
  • Tolerance.

Example

driver
(
  name "laserbar"
  requires ["laser:0"]
  provides ["fiducial:0"]
  width 0.2
)

Author

Andrew Howard