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Create hokuyo gazebo plugin capable of dynamically reconfiguring rate and resolution (ros ticket #5024) #89

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ahendrix opened this issue Sep 9, 2013 · 0 comments

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ahendrix commented Sep 9, 2013

Running both the base and tilt lasers on the PR2 drains a lot of CPU because of the ray tracing that is done using ODE.

The gazebo_ros_laser plugin should be extended to allow some parameters of the laser to be reconfigured:

rayCount
rangeCount
minAngle
maxAngle
minRange
maxRange
updateRate
gaussianNoise
frameName
topicName

The rayCount and rangeCount numbers should have a sanity check, so if rayCount > rangeCount, it only generates the minimum number of needed rays.

trac data:

Owner: natepak
Reporter: watts
Reported at: Wed Feb 16 14:26:15 2011
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5024

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