lasertoranger

Laser-to-Ranger converter. More...

Laser-to-Ranger converter.

This driver translates data provided via the laser interface into the ranger interface.

Compile-time dependencies

• None

Provides

• ranger : Output ranger interface

Requires

• laser : Laser interface to translate

Configuration requests

• PLAYER_RANGER_REQ_GET_GEOM
• PLAYER_RANGER_REQ_POWER
• PLAYER_RANGER_REQ_INTNS

Configuration file options

• buggy_geom (integer)
  • Default: 0
  • If set to 1, the pz, proll and ppitch fields will be set to 0.0
  • This option is added to provide compatibility with old buggy laser drivers that do not clean unused geometry structure fields
• force_config (float tuple)
  • Default: not set
  • If set, it will override configuration values obtained from buggy laser drivers
  • values: [min_angle max_angle angular_res max_range range_res]
  • units: [deg deg deg m m]

Example

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

Author

Geoffrey Biggs