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 )