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The proximity_sensor_driver communicates over a SUB20 with the controller box of the proximity sensor. The driver takes some arguments that can be configured in the sensor_config.yaml:

sensor_count the number of patches that are in the proximity sensor chain

noise_threshold Patches with a value in the range of this parameter to init are considered as inactive

static_threshold Patches with a reading over the range of noise_threshold but within static_threshold are considered as (abs(init - reading) - noise_threshold) / static_threshold % active.

dynamic_threshold Not used yet

After you have configured the driver you can launch it with

roslaunch proximity_sensor_driver proximity_sensor_driver.launch

Wiki: proximity_sensor_driver (last edited 2011-08-18 22:06:55 by AdrianFunk)