laserbar
[Drivers]

Todo:: This driver is currently disabled because it needs to be updated to the Player 2.0 API.

The laser bar detector searches for retro-reflective targets in the laser range finder data. Targets can be either planar or cylindrical, as shown below. For planar targets, the range, bearing and orientation will be determined; for cylindrical targets, only the range and bearing will be determined. The target size and shape can be set in the configuration file.

The range at which targets can be detected is dependant on the target size, the angular resolution of the laser and the quality of the retro-reflective material used on the target.

See also the laserbarcode and laservisualbarcode drivers.

A sample laser bar (ignore the colored bands)

Compile-time dependencies

none

Provides

This driver provides detected target information through a fiducial device.

Requires

This driver finds targets in scans from a laser device.

Configuration requests

PLAYER_FIDUCIAL_GET_GEOM

Configuration file options

width (length)
- Default: 0.08 m
- Target width.

tol (length)
- Default: 0.5 m
- Tolerance.

Example

driver
(
  name "laserbar"
  requires ["laser:0"]
  provides ["fiducial:0"]
  width 0.2
)

Author:: Andrew Howard

Last updated 12 September 2005 21:38:45

laserbar [Drivers]

laserbar
[Drivers]