urg_nz
[Drivers]
Gearbox urg_nz Hokuyo URG laser scanner driver library. More...
Collaboration diagram for urg_nz:
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Gearbox urg_nz Hokuyo URG laser scanner driver library.
This driver provides a ranger interface to the urg_nz Hokuyo URG laser scanner driver provided by Gearbox. Communication with the laser can be either via USB or RS232. The driver supports SCIP procol versions 1 and 2.
- Compile-time dependencies
- Gearbox library urg_nz
- Provides
- ranger : Output ranger interface
- Configuration requests
- 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.
- Configuration file options
- port (string)
- Default: "/dev/ttyACM0"
- Port to which the laser is connected. Can be a serial port or the port associated with a USB ACM device.
- baudrate (integer)
- Default: 115200
- Initial baud rate to connect at. Can be changed with the "baudrate" property. Valid rates are 19200, 57600 and 115200. Only applies when use_serial is true.
- use_serial (boolean)
- Default: false
- Connect over an RS232 serial connection instead of the default USB connection.
- 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: -2.094 rad (-120.0 degrees)
- Minimum scan angle to return.
- max_angle (float, radians)
- Default: 2.094 rad (120.0 degrees)
- Maximum scan angle to return.
- verbose (boolean)
- Default: false
- Enable verbose debugging information in the underlying library.
- Properties
- baudrate (integer)
- Change the baud rate of the connection to the laser. Valid rates are 19200, 57600 and 115200. Only applies when use_serial is true. Not currently supported if SCIP v2 is in use.
- Example
driver ( name "urg_nz" provides ["ranger:0"] port "/dev/ttyACM0" )