lasercutter

Laser cutter. More...

Laser cutter.

The lasercutter driver processes a laser scan, and removes all rays except those between min_angle and max_angle. Useful if you already know/computed ahead the 'area of interest'.

Compile-time dependencies

• none

Provides

• laser : output of the cut

Requires

• laser : raw laser data

Configuration requests

• PLAYER_LASER_REQ_GET_GEOM

Configuration file options

• min_angle (float)
  • Default: -pi/2
  • Minimum angle of the new scan data
• max_angle (float)
  • Default: pi/2
  • Maximum angle of the new scan data

Example

driver
(
  name "sicklms200"
  provides ["laser:0"]
  port "/dev/ttyS0"
)
driver
(
  name "laserescan"
  requires ["laser:0"] # read from laser:0
  provides ["laser:1"] # output results on laser:1
  # Return only the rays between -30:30 degrees
  min_angle -30
  max_angle 30
)

Author

Radu Bogdan Rusu