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teraranger component

Ports

state (out)

Data structure

  • struct ::or_pose_estimator::state state

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]

Services

get_range (attribute)

Outputs

  • struct ::teraranger::range_s range

    • double min

    • double max

set_range (attribute)

Inputs

  • struct ::teraranger::range_s range

    • double min (default "0.25") Minimum reported distance (m)

    • double max (default "50") Maximum reported distance (m)

get_precision (attribute)

Outputs

  • double precision

set_precision (attribute)

Inputs

  • double precision (default "0.15") Precision of measurements (m)

connect (activity)

Inputs

  • string<64> serial (default "/dev/ttyACM0") Serial device

  • unsigned long baud (default "115200") Baud rate
Throws

  • exception ::teraranger::e_sys

    • short code

    • string<128> what

  • exception ::teraranger::e_nodev
Context

  • In task io

Connect to the hardware

disconnect (activity)

Throws

  • exception ::teraranger::e_sys

    • short code

    • string<128> what
Context

  • In task io

Disconnect from the hardware

log (function)

Inputs

  • string<64> path (default "/tmp/terabee.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::teraranger::e_sys

    • short code

    • string<128> what

Log controller data

log_stop (function)

Stop logging

log_info (function)

Outputs

  • unsigned long miss Missed log entries

  • unsigned long total Total log entries

Show missed log entries

Tasks

io

Context
Throws

  • exception ::teraranger::e_sys

    • short code

    • string<128> what