[ros-users] sensor_msgs::LaserScan Multi-echo Laser Review

[Chad Rockey]

Hi Marti,

These are good points, I've added your suggestions to the review page.

If you (or anyone else on this list) would like to discuss in more detail,
please join the Groovy Drivers SIG:
http://www.ros.org/wiki/groovy/Planning/Drivers
Here's the mailing list (https://groups.google.com/group/ros-sig-drivers)

This is also the best place to discuss how we're going to support ethernet
Hokuyo and SICK models (almost all of which are multi-echo capable).

- Chad

On Thu, Jul 19, 2012 at 4:38 AM, Martí Morta <mmorta at iri.upc.edu> wrote:

>  Hi Chad,
>
> In the IRI's hokuyo laser driver [1] we are using the first method,
> multiecho data is not in every value received, they vary from 1 to 3
> echoes, so the "/laser/echoN" in our case is the echoes "N" + the first
> value in the case that there's no "echo N".
>
> I have the feeling that most users plug and play and won't care much about
> echoes, so I prefer a single topic with an optional policy (keep the max,
> the min,..):
>
> Advantages:
> - Efficient (good for ros)
> - No needs synchronization (good for ros & user)
> - Single topic (good for user)
> - No need to change the message type (good for ros & user)
> Disadvantages:
> - User can't work with separated echo data without modifying the code (bad
> for few users)
> - Policies have to be decided beforehand and implemented in the driver
> (work for the coder)
>
> For me its not clear how this multiecho should be used, we don't use it.
> Know how people work with this multiecho data would be great to define the
> policies.
>
> Out of topic, is the ROS hokuyo_node going to work with ethernet lasers?
>
> [1] http://www.ros.org/wiki/iri_hokuyo_laser
>
> Cheers,
>
> Martí
>
>
> On 07/19/12 03:45, Chad Rockey wrote:
>
> Hi everyone,
>
>  As part of the Groovy planning process, I've posted a review for
> multi-echo laser rangefinders:
>
> http://www.ros.org/wiki/sensor_msgs/Reviews/2012-08-01_MultiEchoLaser_API_review_API_Review
>
>  This review focuses on the ROS API for scanners that return multiple
> ranges (and intensities) for a single beam.  Example lasers with this
> feature are the SICK LMS151 and LMS511, as well as the Hokuyo UTM-30LX-EW.
>
>  Please take a look and contribute your thoughts.
>
>  Thanks,
>  - Chad
>
>
> _______________________________________________
> ros-users mailing listros-users at code.ros.orghttps://code.ros.org/mailman/listinfo/ros-users
>
>
> --
> Martí Morta Garriga. Support Engineer.
> Institut de Robòtica i Informàtica Industrial (UPC-CSIC)
>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20120719/c7aa44e4/attachment-0004.html>