rangerposeinterpolator

Attach poses to ranger scans. More...

Attach poses to ranger scans.

The rangerposeinterpolator driver reads ranger scans from a ranger device and poses from a position2d device, linearly interpolates to estimate the actual pose from which the scan was taken, then outputs messages containing both scan and pose.

Compile-time dependencies

• none

Provides

• ranger : Pose-stamped ranger scans (subtype PLAYER_RANGER_DATA_RANGESTAMPED) are published via this interface

Requires

• ranger : Raw ranger scans (subtype PLAYER_RANGER_DATA_RANGE) are read from this device
• position2d : Pose data (subtype PLAYER_POSITION2D_DATA_STATE) is read from this device

Configuration requests

• All configuration are forwarded to the underlying ranger device for handling.

Configuration file options

• interpolate (integer)
  • Default: 1
  • Linearly interpolate between poses for each scan (1), or just attach the most recent pose to each scan (0).
• max_scans (integer)
  • Default: 100
  • Maximum number of scans to buffer while waiting for a second pose in order to interpolate.
• update_thresh ([length angle] tuple)
  • Default: [-1.0 -1.0]
  • Minimum change in pose (translation or rotation) required before a new ranger scan will be published. Use this option to choke the data rate. Set either value to -1.0 to indicate that no threshold should be applied in that dimension (i.e., every scan should be published).
• update_interval (float, seconds)
  • Default: -1.0
  • Interval after which a new scan will be published, regardless of how far the robot has moved. Set to -1.0 to disable this threshold.
• send_all_scans (integer)
  • Default: 1
  • Whether to stamp and publish every ranger scan. If set to 1, this option overrides update_thresh and update_interval.

Example

driver
(
  name "sicklms200"
  provides ["ranger:0"]
)
driver
(
  name "p2os"
  provides ["odometry::position:0"]
)
driver
(
  name "rangerposeinterpolator"
  provides ["ranger:1"]
  requires ["ranger:0" "position2d:0"]
)

Author

Brian Gerkey (modified from laser to ranger by Patrick Beeson)