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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>hokuyo_aist<br/>
<small>
[<a class="el" href="group__drivers.html">Drivers</a>]</small>
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<div class="contents">

<p>Gearbox hokuyo_aist Hokuyo laser scanner driver library.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>Gearbox hokuyo_aist Hokuyo laser scanner driver library. </p>
<p>This driver provides a <a class="el" href="group__interface__ranger.html">ranger</a> interface to the hokuyo_aist Hokuyo laser scanner driver provided by Gearbox. Communication with the laser is via the Gearbox Flexiport library. The driver supports the SCIP protocol versions 1 and 2.</p>
<dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl>
<ul>
<li>Gearbox library hokuyo_aist</li>
<li>Gearbox library flexiport</li>
</ul>
<dl class="user"><dt><b>Provides</b></dt><dd></dd></dl>
<ul>
<li><a class="el" href="group__interface__ranger.html">ranger</a> : Output ranger interface</li>
</ul>
<dl class="user"><dt><b>Configuration requests</b></dt><dd></dd></dl>
<ul>
<li>PLAYER_RANGER_REQ_INTNS</li>
<li>PLAYER_RANGER_REQ_POWER</li>
<li>PLAYER_RANGER_REQ_GET_GEOM</li>
<li>PLAYER_RANGER_REQ_GET_CONFIG</li>
<li>PLAYER_RANGER_REQ_SET_CONFIG</li>
<li>Note: Only the min_angle and max_angle values can be configured using this request. To change the scanning frequency, use the speed_level property.</li>
</ul>
<dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl>
<ul>
<li>get_intensities (boolean)<ul>
<li>Default: false</li>
<li>Set to non-zero to get intensity data with each range scan on models that support it. This can also be enabled/disabled using the PLAYER_RANGER_REQ_INTNS message. Note that the data retrieval mode used to get intensity data requires that the scan is performed *after* the command is received, so this will introduce a slight delay before the data is delivered.</li>
</ul>
</li>
<li>portopts (string)<ul>
<li>Default: "type=serial,device=/dev/ttyACM0,timeout=1"</li>
<li>Options to create the Flexiport port with. Note that any baud rate specified in this line should be the scanner's startup baud rate.</li>
</ul>
</li>
<li>pose (float 6-tuple: (m, m, m, rad, rad, rad))<ul>
<li>Default: [0.0 0.0 0.0 0.0 0.0 0.0]</li>
<li>Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent object (e.g. the robot).</li>
</ul>
</li>
<li>size (float 3-tuple: (m, m, m))<ul>
<li>Default: [0.0 0.0 0.0]</li>
<li>Size of the laser in metres.</li>
</ul>
</li>
<li>min_angle (float, radians)<ul>
<li>Default: -4.0 rad (Will use laser default)</li>
<li>Minimum scan angle to return. Will be adjusted if outside the laser's scannable range.</li>
</ul>
</li>
<li>max_angle (float, radians)<ul>
<li>Default: 4.0 rad (Will use laser default)</li>
<li>Maximum scan angle to return. Will be adjusted if outside the laser's scannable range.</li>
</ul>
</li>
<li>power (boolean)<ul>
<li>Default: true</li>
<li>If true, the sensor power will be switched on upon driver activation (i.e. when the first client connects). Otherwise a power request must be made to turn it on before data will be received.</li>
</ul>
</li>
<li>verbose (boolean)<ul>
<li>Default: false</li>
<li>Enable verbose debugging information in the underlying library.</li>
</ul>
</li>
<li>ignoreunknowns (boolean)<ul>
<li>Default: false</li>
<li>Ignore unknown lines sent by the laser in response to sensor info request commands.</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Properties</b></dt><dd></dd></dl>
<ul>
<li>baud_rate (integer)<ul>
<li>Default: 19200bps</li>
<li>Change the baud rate of the connection to the laser. See hokuyo_aist documentation for valid values. This is separate from the scanner's power-on default baud rate, which should be specified in portopts.</li>
</ul>
</li>
<li>speed_level (integer, 0 to 10 or 99)<ul>
<li>Default: 0</li>
<li>The speed at which the laser operates, as a level down from maximum speed. See the hokuyo_aist library documentation for suitable values.</li>
</ul>
</li>
<li>high_sensitivity (integer)<ul>
<li>Default: 0</li>
<li>Set to non-zero to enable high sensitivity mode on models that support it.</li>
</ul>
</li>
<li>min_dist (float, metres)<ul>
<li>Default: 0m</li>
<li>Minimum possible distance. Below that means there is an error (a scratch on the laser for instance). The reading is then adjusted to the average of the neighboring valid beams.</li>
</ul>
</li>
<li>hw_timestamps (boolean)<ul>
<li>Default: false</li>
<li>When false, the server will use server time stamps in data messages. When true, the time stamp in the laser data will be used.</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Example</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
 driver
 (
     name "hokuyo_aist"
     provides ["ranger:0"]
     portopts "type=serial,device=/dev/ttyS0,timeout=1"
 )
 </pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Geoffrey Biggs </dd></dl>
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Last updated 12 September 2005 21:38:45
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