Sonar-to-Ranger converter.
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Sonar-to-Ranger converter.
This driver translates data provided via the sonar interface into the ranger interface.
- Compile-time dependencies
- Provides
- ranger : Output ranger interface
- Requires
- Configuration requests
- PLAYER_RANGER_REQ_GET_GEOM
- PLAYER_RANGER_REQ_POWER
- Configuration file options
- buggy_geom (integer)
- Default: 0
- If set to 1, the pz, proll and ppitch fields will be set to 0.0
- This option is added to provide compatibility with old buggy sonar drivers that do not clean unused geometry structure fields
- Example
driver
(
name "p2os"
provides ["sonar:0"]
)
driver
(
name "sonartoranger"
requires ["sonar:0"] # read from sonar:0
provides ["ranger:0"] # output results on ranger:0
)
- Author:
- Geoffrey Biggs