LaserSonarMerge

From CAS-Robotics

Contents 1 Laser Sonar Merge Player/Stage Driver 1.1 Download 1.2 Compilation 1.3 Usage

Laser Sonar Merge Player/Stage Driver

Used to merge data coming from Laser and Sonar to enhance Range sensor readings, useful for when we get lots of false max laser returns or when there are glass surfaces in the environment.

Download

• Download Driver

Compilation

To compile the driver successfully, you should:

• Have pk-config pointing correctly to the player/stage.
• Use the make file script to compile the driver and generate the shared object "LaserSonarMerge.so"

make

To install:

• Copy LaserSonarMerge.so to /usr/local/lib/ or
• Create a symbolic link where you're running your configuration file

ln -s LaserSonarMerge_PATH/LaserSonarMerge.so

where LaserSonarMerge_PATH is the path where the LaserSonarMerge driver was compiled

Usage

Just add the following section to your configuration.

driver
(
  name   "LaserSonarMerge"
  plugin "LaserSonarMerge.so"
  requires ["laser:0" "sonar:0"]
  provides ["laser:1"]
  alwayson 1
)