Laser log format. More...

Laser log format.

The following type:subtype laser messages can be logged:

• 1:1 (PLAYER_LASER_DATA_SCAN) - A scan. The format is:
  • scan_id (int): unique, usually increasing index associated with the scan
  • min_angle (float): minimum scan angle, in radians
  • max_angle (float): maximum scan angle, in radians
  • resolution (float): angular resolution, in radians
  • max_range (float): maximum scan range, in meters
  • count (int): number of readings to follow
  • list of readings; for each reading:
    • range (float): in meters
    • intensity (int): intensity
• 1:2 (PLAYER_LASER_DATA_SCANPOSE) - A scan with an attached pose. The format is:
  • scan_id (int): unique, usually increasing index associated with the scan
  • px (float): X coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in meters
  • py (float): Y coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in meters
  • pa (float): yaw coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in radians
  • min_angle (float): minimum scan angle, in radians
  • max_angle (float): maximum scan angle, in radians
  • resolution (float): angular resolution, in radians
  • max_range (float): maximum scan range, in meters
  • count (int): number of readings to follow
  • list of readings; for each reading:
    • range (float): in meters
    • intensity (int): intensity
• 4:1 (PLAYER_LASER_REQ_GET_GEOM) - Laser pose information. The format is:
  • lx (float): X coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in meters.
  • ly (float): Y coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in meters.
  • la (float): yaw coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in radians.
  • sx (float): length of the laser
  • sy (float): width of the laser