Hokuyo: Test with real sensor

scenarios/LaserScannerTest/LaserScannerTest.scx

 <?xml version="1.0" encoding="utf-8"?>
-<scenario name="LaserScannerTest" lastChange="2017-03-07.16:53:44" creation="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI">
+<scenario name="LaserScannerTest" lastChange="2017-03-09.17:02:34" creation="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI">
 	<application name="HokuyoLaserUnitApp" instance="" package="RobotAPI"/>
 	<application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI"/>
 </scenario>

scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg

@@ -74,12 +74,20 @@
 # ArmarX.EnableProfiling = 0
 
 
+# ArmarX.HokuyoLaserUnit.AngleOffset:  Offset is applied the raw angles before reporting them
+#  Attributes:
+#  - Default:            -2.3561945
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.HokuyoLaserUnit.AngleOffset = -2.3561945
+
+
 # ArmarX.HokuyoLaserUnit.Devices:  List of devices in form of 'IP1,port1;IP2,port2;...'
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   no
 #  - Required:           no
-ArmarX.HokuyoLaserUnit.Devices = "Dummy1,100"
+ArmarX.HokuyoLaserUnit.Devices = "192.168.0.10,10940"
 
 
 # ArmarX.HokuyoLaserUnit.EnableProfiling:  enable profiler which is used for logging performance events

scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg

@@ -178,11 +178,6 @@
 # ArmarX.Verbosity = Info
 
 
-# Ice.Config:  Custom Property
-#  Attributes:
-#  - Default:            ::NOT_DEFINED::
-#  - Case sensitivity:   no
-#  - Required:           no
-# Ice.Config = ::NOT_DEFINED::
+
 
 

source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp

@@ -143,7 +143,7 @@ void LaserScannerPluginWidgetController::onNewSensorValuesReported()
     LaserScan& scan = scans[deviceName];
     for (LaserScanStep & step : scan)
     {
-        line(step.angle, step.distance / 30000.0f);
+        line(step.angle, step.distance / 10000.0f);
     }
 
     view->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio);