From 42913d22bd17323094662e993f0d90e2622b0df1 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Fri, 10 Mar 2017 11:51:50 +0100
Subject: [PATCH] Hokuyo: Test with real sensor
---
scenarios/LaserScannerTest/LaserScannerTest.scx | 2 +-
.../LaserScannerTest/config/HokuyoLaserUnitApp.cfg | 10 +++++++++-
.../config/LaserScannerUnitObserverApp.cfg | 7 +------
.../LaserScannerPluginWidgetController.cpp | 2 +-
4 files changed, 12 insertions(+), 9 deletions(-)
diff --git a/scenarios/LaserScannerTest/LaserScannerTest.scx b/scenarios/LaserScannerTest/LaserScannerTest.scx
index 13d1b66eb..dde933189 100644
--- a/scenarios/LaserScannerTest/LaserScannerTest.scx
+++ b/scenarios/LaserScannerTest/LaserScannerTest.scx
@@ -1,5 +1,5 @@
<?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>
diff --git a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
index 402fa7bd2..6f8512d97 100644
--- a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
+++ b/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
diff --git a/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg b/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
index f38a4e69d..5d4e2e744 100644
--- a/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
+++ b/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::
+
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
index 2327635b3..c190417b2 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
+++ b/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);
--
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