On Thu, 22 Jan 2004, [gb2312] WANG Zhan wrote:
> I am using stage for simulation. How can I change the
> laser scanning frequency? I have used
> PlayerClient::SetFrequency(), but that only changes
> the frequency of reading sensor data. I can get new
> data from laser every 0.3 second. Can it scan at a
> higher frequency? Thank you very much.
You can change the scan rate by setting the 'scan_rate' option in your
.world file. The value is the number of readings that will be generated
per second. The default is 361/0.2 to simulate the SICK LMS200, which
when operated at 38.4Kbps can return a full scan (361 readings) at 5Hz.
So by default you should get a new scan every 0.2 seconds. There's an
off-by-one bug that makes it late by one simulation timestep, which is why
you get a new scan every 0.3 seconds.
To make the laser scan twice as fast (at twice the computational expense,
laser (scan_rate 3600)