Hi Marti,<div><br></div><div>These are good points, I've added your suggestions to the review page.</div><div><br></div><div>If you (or anyone else on this list) would like to discuss in more detail, please join the Groovy Drivers SIG:</div>
<div><a href="http://www.ros.org/wiki/groovy/Planning/Drivers" target="_blank">http://www.ros.org/wiki/groovy/Planning/Drivers</a></div><div>Here's the mailing list (<a href="https://groups.google.com/group/ros-sig-drivers" target="_blank">https://groups.google.com/group/ros-sig-drivers</a>)</div>
<div><br></div><div>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).</div><div><br></div><div>- Chad</div><div><br><div class="gmail_quote">
On Thu, Jul 19, 2012 at 4:38 AM, Martí Morta <span dir="ltr"><<a href="mailto:mmorta@iri.upc.edu" target="_blank">mmorta@iri.upc.edu</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div text="#000000" bgcolor="#FFFFFF">
Hi Chad,<br>
<br>
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".<br>
<br>
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,..):<br>
<br>
Advantages: <br>
- Efficient (good for ros)<br>
- No needs synchronization (good for ros & user)<br>
- Single topic (good for user)<br>
- No need to change the message type (good for ros & user)<br>
Disadvantages:<br>
- User can't work with separated echo data without modifying the
code (bad for few users)<br>
- Policies have to be decided beforehand and implemented in the
driver (work for the coder)<br>
<br>
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.<br>
<br>
Out of topic, is the ROS hokuyo_node going to work with ethernet
lasers?<br>
<br>
[1]
<a href="http://www.ros.org/wiki/iri_hokuyo_laser" target="_blank">http://www.ros.org/wiki/iri_hokuyo_laser</a><br>
<br>
Cheers,<br>
<br>
Martí<div><div><br>
<br>
<div>On 07/19/12 03:45, Chad Rockey wrote:<br>
</div>
</div></div><blockquote type="cite"><div><div>Hi everyone,
<div><br>
</div>
<div>As part of the Groovy planning process, I've posted a review
for multi-echo laser rangefinders:</div>
<div><a href="http://www.ros.org/wiki/sensor_msgs/Reviews/2012-08-01_MultiEchoLaser_API_review_API_Review" target="_blank">http://www.ros.org/wiki/sensor_msgs/Reviews/2012-08-01_MultiEchoLaser_API_review_API_Review</a></div>
<div><br>
</div>
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.
<div>
<br>
</div>
<div>Please take a look and contribute your thoughts.</div>
<div><br>
</div>
<div>Thanks,</div>
<div> - Chad</div>
<br>
<fieldset></fieldset>
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<br>
<pre cols="72">--
Martí Morta Garriga. Support Engineer.
Institut de Robòtica i Informàtica Industrial (UPC-CSIC)</pre>
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