I'm porting a Gazebo-0.7.0 Laser sensor driver to 0.9.0. The problem here is that the laser does not have a traditional planar fan shape like the SICK or hokoyu, but a helical scan pattern. The old driver poured (almost) everything into a Model subclass, including the sweep logic for the helical fan within Update(). Gazebo 0.9.0 seems to divide the role of this old class into (at least) three classes: Controller, Sensor, and RaySensor.
Am I right in assuming that for 0.9.0, I should either modify the RaySensor class (or preferably subclass it) to contain the helical fan's sweep logic? If so I'm a little unsure about whether the fan sweep path is described either: - once in InitChild() and simply moved in UpdateChild() (My current belief) or - both created and dynamically updated in UpdateChild. As you can probably tell, this is my first time through the Sensor creation mill...so don't assume I know anything! ============================================================================ Dr. Simon Monckton Defence Research and Development Canada Suffield | Recherche et développement pour la défense Canada Suffield Medicine Hat, AB, Canada T1A 8K6 [email protected] <mailto:[email protected]> Telephone |Téléphone 403-544-4724 / Facsimile | Télécopieur 403-544-4704 Government of Canada | Gouvernement du Canada ------------------------------------------------------------------------------ The Planet: dedicated and managed hosting, cloud storage, colocation Stay online with enterprise data centers and the best network in the business Choose flexible plans and management services without long-term contracts Personal 24x7 support from experience hosting pros just a phone call away. http://p.sf.net/sfu/theplanet-com _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
