lasertoranger

Laser-to-Ranger converter

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

Compile-time dependencies
  • None
Provides
  • interface_ranger : Output ranger interface
Requires
  • interface_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