laser

DEPRECATED Laser range-finder More...

Detailed Description

DEPRECATED Laser range-finder

The laser interface provides access to a single-origin scanning range sensor, such as a SICK laser range-finder (e.g., sicklms200).

Devices supporting the laser interface can be configured to scan at different angles and resolutions. As such, the data returned by the laser interface can take different forms. To make interpretation of the data simple, the laser data packet contains some extra fields before the actual range data. These fields tell the client the starting and ending angles of the scan, the angular resolution of the scan, and the number of range readings included. Scans proceed counterclockwise about the laser (0 degrees is forward).

This interface is deprecated. Use the ranger instead.

#define	PLAYER_LASER_DATA_SCAN   1
	Data subtype: scan.
#define	PLAYER_LASER_DATA_SCANPOSE   2
	Data subtype: pose-stamped scan.
#define	PLAYER_LASER_DATA_SCANANGLE   3
	Data subtype: angle-stamped scan.
#define	PLAYER_LASER_REQ_GET_GEOM   1
	Request/reply subtype: get geometry.
#define	PLAYER_LASER_REQ_SET_CONFIG   2
	Request/reply subtype: set configuration.
#define	PLAYER_LASER_REQ_GET_CONFIG   3
	Request/reply subtype: get configuration.
#define	PLAYER_LASER_REQ_POWER   4
	Request/reply subtype: set power.
#define	PLAYER_LASER_REQ_GET_ID   5
	Request/reply subtype: get IDentification information.
#define	PLAYER_LASER_REQ_SET_FILTER   6
	Request/reply subtype: set filter settings.
#define	PLAYER_LASER_MAX_FILTER_PARAMS   8
	Filter setings.
#define	PLAYER_LASER_FILTER_MEDIAN   1
	Data subtype: scan.
#define	PLAYER_LASER_FILTER_EDGE   2
	Data subtype: scan.
#define	PLAYER_LASER_FILTER_RANGE   3
	Data subtype: scan.
#define	PLAYER_LASER_FILTER_MEAN   4
	Data subtype: scan.
typedef struct player_laser_data	player_laser_data_t
	Data: scan (PLAYER_LASER_DATA_SCAN) More...
typedef struct player_laser_data_scanpose	player_laser_data_scanpose_t
	Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE) More...
typedef struct player_laser_data_scanangle	player_laser_data_scanangle_t
	Data: scan (PLAYER_LASER_DATA_SCANANGLE) More...
typedef struct player_laser_geom	player_laser_geom_t
	Request/reply: Get geometry. More...
typedef struct player_laser_config	player_laser_config_t
	Request/reply: Get/set scan properties. More...
typedef struct player_laser_power_config	player_laser_power_config_t
	Request/reply: Turn power on/off. More...
typedef struct player_laser_get_id_config	player_laser_get_id_config_t
	Request/reply: Get IDentification information. More...
typedef struct player_laser_set_filter_config	player_laser_set_filter_config_t
	Request/reply: Set filter settings. More...

Typedef Documentation

player_laser_config_t

typedef struct player_laser_config player_laser_config_t

Request/reply: Get/set scan properties.

The scan configuration (resolution, aperture, etc) can be queried by sending a null PLAYER_LASER_REQ_GET_CONFIG request and modified by sending a PLAYER_LASER_REQ_SET_CONFIG request. In either case, the current configuration (after attempting any requested modification) will be returned in the response. Read the documentation for your driver to determine what configuration values are permissible.

player_laser_data_scanangle_t

typedef struct player_laser_data_scanangle player_laser_data_scanangle_t

Data: scan (PLAYER_LASER_DATA_SCANANGLE)

The basic laser angle stamped data packet.

player_laser_data_scanpose_t

typedef struct player_laser_data_scanpose player_laser_data_scanpose_t

Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)

A laser scan with a pose that indicates the (possibly esimated) pose of the laser when the scan was taken.

player_laser_data_t

typedef struct player_laser_data player_laser_data_t

Data: scan (PLAYER_LASER_DATA_SCAN)

The basic laser data packet.

player_laser_geom_t

typedef struct player_laser_geom player_laser_geom_t

Request/reply: Get geometry.

The laser geometry (position and size) can be queried by sending a null PLAYER_LASER_REQ_GET_GEOM request.

player_laser_get_id_config_t

typedef struct player_laser_get_id_config player_laser_get_id_config_t

Request/reply: Get IDentification information.

Send a PLAYER_LASER_REQ_GET_ID request to receive the laser's serial number or any other relevant identification information (assuming your hardware supports it).

player_laser_power_config_t

typedef struct player_laser_power_config player_laser_power_config_t

Request/reply: Turn power on/off.

Send a PLAYER_LASER_REQ_POWER request to turn laser power on or off (assuming your hardware supports it).

player_laser_set_filter_config_t

typedef struct player_laser_set_filter_config player_laser_set_filter_config_t

Request/reply: Set filter settings.

Send a PLAYER_LASER_REQ_SET_FILTER request to set the laser's internal filter parameters (assuming your hardware supports it). Currently the finally settings can be applied to the SICK LMS400: a) median filter - PLAYER_LASER_FILTER_MEDIAN, no parameters b) edge filter - PLAYER_LASER_FILTER_EDGE, no parameters c) range filter - PLAYER_LASER_FILTER_RANGE p1 = BottomLimit (700-3000 in mm), p2 = TopLimit (700-3000 in mm) d) mean filter - PLAYER_LASER_FILTER_MEAN p1 = number of means (2-200)

Note: You can combine the filters as required. If several filters are active, then the filters act one after the other on the result of the previous filter. The processing in this case follows the following sequence: edge filter, median filter, range filter, mean filter.