Revision: 7211
http://playerstage.svn.sourceforge.net/playerstage/?rev=7211&view=rev
Author: gbiggs
Date: 2008-12-19 08:11:32 +0000 (Fri, 19 Dec 2008)
Log Message:
-----------
Changed hokuyo_aist driver to use hokuyo_aist library's baud probing opener
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2008-12-19
02:50:12 UTC (rev 7210)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2008-12-19
08:11:32 UTC (rev 7211)
@@ -61,7 +61,8 @@
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.
+ - 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).
@@ -77,8 +78,8 @@
- 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.
+ 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.
@@ -88,7 +89,8 @@
- baud_rate (integer)
- Default: 19200bps
- Change the baud rate of the connection to the laser. See hokuyo_aist
documentation for valid
- values.
+ 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
@@ -533,7 +535,7 @@
try
{
// Open the laser
- _device.Open (_portOpts);
+ _device.OpenWithProbing (_portOpts);
// Get the sensor information and check _minAngle and _maxAngle
are OK
hokuyo_aist::HokuyoSensorInfo info;
_device.GetSensorInfo (&info);
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
