hokuyo_aist

Gearbox hokuyo_aist Hokuyo laser scanner driver library. More...

Gearbox hokuyo_aist Hokuyo laser scanner driver library.

This driver provides a ranger 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.

Compile-time dependencies
  • Gearbox library hokuyo_aist
  • Gearbox library flexiport
Provides
  • ranger : Output ranger interface
Configuration requests
  • PLAYER_RANGER_REQ_INTNS
  • PLAYER_RANGER_REQ_POWER
  • PLAYER_RANGER_REQ_GET_GEOM
  • PLAYER_RANGER_REQ_GET_CONFIG
  • PLAYER_RANGER_REQ_SET_CONFIG
  • 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.
Configuration file options
  • get_intensities (boolean)
    • Default: false
    • 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.
  • portopts (string)
    • Default: "type=serial,device=/dev/ttyACM0,timeout=1"
    • Options to create the Flexiport port with. Note that any baud rate specified in this line should be the scanner's startup baud rate.
  • pose (float 6-tuple: (m, m, m, rad, rad, rad))
    • Default: [0.0 0.0 0.0 0.0 0.0 0.0]
    • Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent object (e.g. the robot).
  • size (float 3-tuple: (m, m, m))
    • Default: [0.0 0.0 0.0]
    • Size of the laser in metres.
  • min_angle (float, radians)
    • Default: -4.0 rad (Will use laser default)
    • Minimum scan angle to return. Will be adjusted if outside the laser's scannable range.
  • max_angle (float, radians)
    • Default: 4.0 rad (Will use laser default)
    • Maximum scan angle to return. Will be adjusted if outside the laser's scannable range.
  • power (boolean)
    • Default: true
    • 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.
  • verbose (boolean)
    • Default: false
    • Enable verbose debugging information in the underlying library.
  • ignoreunknowns (boolean)
    • Default: false
    • Ignore unknown lines sent by the laser in response to sensor info request commands.
Properties
  • baud_rate (integer)
    • Default: 19200bps
    • 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.
  • speed_level (integer, 0 to 10 or 99)
    • Default: 0
    • The speed at which the laser operates, as a level down from maximum speed. See the hokuyo_aist library documentation for suitable values.
  • high_sensitivity (integer)
    • Default: 0
    • Set to non-zero to enable high sensitivity mode on models that support it.
  • min_dist (float, metres)
    • Default: 0m
    • 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.
  • hw_timestamps (boolean)
    • Default: false
    • When false, the server will use server time stamps in data messages. When true, the time stamp in the laser data will be used.
Example
driver
(
    name "hokuyo_aist"
    provides ["ranger:0"]
    portopts "type=serial,device=/dev/ttyS0,timeout=1"
)
Author
Geoffrey Biggs

Last updated 12 September 2005 21:38:45