Ulmsserver: Difference between revisions
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===Laser scanner server=== | |||
The laserscanne server is configured with the laser device plugin (laserpool) and virtual 360 degree scanner (v360) as default. | |||
Other plugins must be loaded (e.g. in the ulmsserver.ini file.) | |||
[[Image:laser-server.png]] | [[Image:laser-server.png]] | ||
Revision as of 14:45, 28 October 2009
Laser scanner server
The laserscanne server is configured with the laser device plugin (laserpool) and virtual 360 degree scanner (v360) as default. Other plugins must be loaded (e.g. in the ulmsserver.ini file.)
laser scan logfile
Filename for laser 0 is
laser_0.log
The file looks like this
1216815130.160302 25905 0.5 -90 361 5.789 5.782 5.806 5.776 7.619 7.810 7.931 5.803 5.793 ... 1216815130.213813 25907 0.5 -90 361 5.751 5.767 5.777 5.774 5.785 5.784 7.854 7.370 5.795 ... 1216815130.267325 25909 0.5 -90 361 7.628 8.130 5.770 5.780 5.755 5.787 5.802 5.793 7.828 ...
The fields are:
1 Timestamp (linux timestamp, valid to about 20ms) 2 scan number (e.g. 25909), 3 resolution (here 0.5 degree), 4 first angle (e.g. -90 degree), 5 number of measurements (e.g. 361), 6 first range (5.789 in meters), 7 second range (5.782) 8 ... and so forth.
