Interface to a range sensing device. This includes laser scanners, arrays of sonar sensors and arrays of infra-red sensors. If the element count is 1, the device should be considered to consist of a single range sensor that returns many ranges at once (such as a laser scanner). If the element count is greater than one, the device should be considered an array of sensing elements, each of which returns a single range value.
Inputs
None.
Outputs
Port name
Purpose
Data
Ranges
Range data with meta-information.
RangeData
Intensities
Intensity data with meta-information.
IntensityData
RangeData
Member
Type
Description
ranges
sequence<double>
Range values in metres.
geometry
RangerGeometry
Geometry of the ranger at the time the scan data was measured.
config
RangerConfig
Configuration of the ranger at the time the scan data was measured.
IntensityData
Member
Type
Description
intensities
sequence<double>
Intensity values.
geometry
RangerGeometry
Geometry of the ranger at the time the scan data was measured.
config
RangerConfig
Configuration of the ranger at the time the scan data was measured.
Services
Port name
Purpose
Parameters
Return data
GetGeometry
Device position and size information.
None
RangerGeometry
Power
Turn the ranger device's power on or off.
boolean power
None
EnableIntensities
Turn on or off the detection and transmission of intensity data.
boolean enable
None
GetConfig
Get the ranger's current configuration.
None
RangerConfig
SetConfig
Set the ranger's configuration.
RangerConfig newConfig
None
RangerGeometry
Member
Type
Description
geometry
Geometry3D
Overall geometry of the ranger device, such as the centroid of an array of sonar sensors.
elementGeometries
sequence<Geometry3D>
Geometry of each individual sensing element. The range values should be considered to be measured from each of these.
Ranger
Interface to a range sensing device. This includes laser scanners, arrays of sonar sensors and arrays of infra-red sensors. If the element count is 1, the device should be considered to consist of a single range sensor that returns many ranges at once (such as a laser scanner). If the element count is greater than one, the device should be considered an array of sensing elements, each of which returns a single range value.
Inputs
None.
Outputs
RangeData
IntensityData
Services
RangerGeometry
RangerConfig