laserrescan

Laser rescanner. More...

Laser rescanner.

The laserrescan driver processes a laser scan to create a virtual scan configuration. Existing scans are interpolated.

The driver was created for the purpose of using pmap with non-sick scanners

Compile-time dependencies

• none

Provides

• laser : output of the rescan

Requires

• laser : raw laser data from which to interpolate

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
• scan_count (int)
  • Default: 181
  • Number of scans from min angle to max angle

Example

driver
(
  name "sicklms200"
  provides ["laser:0"]
  port "/dev/ttyS0"
)
driver
(
  name "laserrescan"
  requires ["laser:0"] # read from laser:0
  provides ["laser:1"] # output results on laser:1
)

Author

Toby Collett