pioneer lx 和 neobotix 产品使用了sick s300
250°视角还是270°视角? 500 readings
ros driver
lx 设置 publish_aria_lasers 为true,广播激光数据
http://wiki.ros.org/cob_sick_s300
http://wiki.ros.org/Robots/AMR_Pioneer_Compatible
Section Laser parameters
; Information about the connection to this laser and its position on the
; vehicle.
;SectionFlags for Laser parameters:
LaserAutoConnect true ; Laser_1 exists and should be automatically connected
; at startup.
LaserX 267 ; Location (in mm) of the laser in X (+ front, - back)
; relative to the robot's idealized center of
; rotation.
LaserY 0 ; Location (in mm) of the laser in Y (+ left, - right)
; relative to the robot's idealized center of
; rotation.
LaserTh 0.00000 ; range [-180, 180], Rotation (in deg) of the laser
; (+ counterclockwise, - clockwise).
LaserZ 190 ; minimum 0, Height (in mm) of the laser from the
; ground. 0 means unknown.
LaserIgnore -135--120 120-135 ; Angles (in deg) at which to ignore readings,
; +/1 one degree. Angles are entered as strings,
; separated by a space.
LaserFlipped true ; Laser_1 is upside-down.
LaserType s3series ; Type of laser.
LaserPortType serial422 ; Type of port the laser is on.
LaserPort COM7 ; Port the laser is on.
LaserPowerOutput ; Power output that controls this laser's power.
LaserStartingBaudChoice 230400 ; StartingBaud for this laser. Leave blank to
; use the default.
LaserAutoBaudChoice ; AutoBaud for this laser. Leave blank to use the
; default.
LaserPowerControlled false ; When enabled (true), this indicates that the power
; to the laser is controlled by the serial port line.
LaserMaxRange 0 ; Maximum range (in mm) to use for the laser. This
; should be specified only when the range needs to be
; shortened. 0 to use the default range.
LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser. 0 to
; use the default.
LaserStartDegrees ; Start angle (in deg) for the laser. This may be used
; to constrain the angle. Fractional degrees are
; permitted. Leave blank to use the default.
LaserEndDegrees ; End angle (in deg) for the laser. This may be used
; to constrain the angle. Fractional degreees are
; permitted. Leave blank to use the default.
LaserDegreesChoice ; Degrees choice for the laser. This may be used to
; constrain the range. Leave blank to use the default.
LaserIncrement ; Increment (in deg) for the laser. Fractional degrees
; are permitted. Leave blank to use the default.
LaserIncrementChoice ; Increment choice for the laser. This may be used to
; increase the increment. Leave blank to use the
; default.
LaserUnitsChoice ; Units for the laser. This may be used to increase
; the size of the units. Leave blank to use the
; default.
LaserReflectorBitsChoice ; ReflectorBits for the laser. Leave blank to use the
; default.
激光参数中ignore那一项,说明并没有全部采用激光数据(本体结构挡住光)cob包中有一个filter 包会过滤这部分数据