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Change laser range while stage is running

asked 2013-08-20 14:18:57 -0600

vv gravatar image

updated 2013-11-14 11:22:21 -0600

tfoote gravatar image

I know how to set the laser range in the world file. But once the world file is executed on stage, I can't find any way to manipulate the value of any properties in that world file. So, my question is, after I execute the world file on stage, then I want to change the laser range while I am running the stage. How can I do so?

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answered 2013-08-21 05:15:42 -0600

Not sure this is easily doable in Stage, but a workaround could be to write a small node that subscribes to the scan, truncates the ranges contained as you require, and republishes the scan to another topic. Should be a few lines of Python or C++ code and you don't have to mess with Stage.

Another thing you could do is look at the laser_filters package and see if it satisfies your requirements.

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I'm not quite understand about the "Scan" that I need to subscribe and publish too. Can you tell me clearer please. what topic that I need to subscribe to and what topic should I publish to? Thanks

vv gravatar imagevv ( 2013-08-22 00:04:33 -0600 )edit

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Asked: 2013-08-20 14:18:57 -0600

Seen: 117 times

Last updated: Aug 21 '13