sonartoranger

Sonar-to-Ranger converter

This driver translates data provided via the interface_sonar interface into the interface_ranger interface.

Compile-time dependencies
  • None
Provides
  • interface_ranger : Output ranger interface
Requires
  • interface_sonar : Sonar interface to translate
Configuration requests
  • PLAYER_RANGER_REQ_GET_GEOM
  • PLAYER_RANGER_REQ_POWER
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 sonar drivers that do not clean unused geometry structure fields
Example
driver
(
  name "p2os"
  provides ["sonar:0"]
)
driver
(
  name "sonartoranger"
  requires ["sonar:0"] # read from sonar:0
  provides ["ranger:0"] # output results on ranger:0
)
Author
Geoffrey Biggs