Programming with Karto

ID #1002

If my laser is not exactly at the center of the robot (center of rotation) How do I set the laser offset?

When you create the RangeFinder device, the second (optional) argument is the offset pose of the Range Device:

// Create a laser range finder with and offset of 0 in X, 0 in Y, 0.3m in Z, , 0 in rotation
kt::RangeFinder scan1 = kt::RangeFinder("hello:laser:1",kt::Pose3(kt::Vector3(0,0,0.3),0));

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Last update: 2008-08-25 16:04
Author: regis
Revision: 1.4

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