RE: [Playerstage-users] Experiments with high data rate laser

[Brian G. <ge...@ai...>]

On Thu, 11 Nov 2004, Alex Makarenko wrote:

> The main point is that one cannot get reliable 75Hz with the setup I was
> using. With high-res scan, it's 50Hz at best (20ms), 37Hz on average (27ms),
> and 29Hz at worst (34ms). Which is equivalent to 10, 13, 17cm of travel at
> 5m/s. Mind you, even 30Hz is more than enough for anything we do now, but I
> think it's still good to know the practical limits.

If by high-res, you mean 0.5 degree resolution, then 37Hz average is
exactly right, because that's how fast the laser actually produces scans
at that resolution.  I wrote about this at some length a while back:

   http://sourceforge.net/mailarchive/message.php?msg_id=9038591

You can only get 75Hz at 1.0 degree resolution.

> Sounds good. Do you have to set up the server side differently to use the
> PUSH_ASYNC mode?

Nope, just change the delivery mode from the client side (e.g.,
PlayerClient::SetDataMode()).

         brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey