SoftBank Robotics documentation What's new in NAOqi 2.8?

Lasers

Specification

The robot is equipped with 6 laser line generators.

Wavelength 808 nm ../../_images/laser_class_1.png
Mode of operation pulsed
Global shutter camera
Framerate 6.25Hz per laser
Auto-exposure control

Location

Laser Sensors

../../_images/laser_sensors.png

See the URDF files.

Part Name VFOV HFOV
1 LaserSensor/Front 40 ° 60 °
2 LaserSensor/Left
3 LaserSensor/Right

Laser Actuators - front ground evaluation

../../_images/laser_vertical.png
Part X(m) Y(m) Z(m) WX(deg) WY(deg) WZ(deg) Beam angle
A 0.11290 0.00000 -0.17550 0.0000 14.15000 0.0000 60 °
B 0.14020 -0.03050 -0.21380 -32.5300 16.27000 30.2100
C 0.14020 0.03050 -0.21380 32.5300 16.27000 -30.2100

To access values by using ALMemory key names, see: Shovel data (A), Vertical right data (B), Vertical left data (C).

Note

The Laser located on the front right (B) projects its line on the left side of the robot’s center (seen from a robot’s point of view).

The Laser located on the front left (C) projects its line to the right side of the robot’s center (seen from a robot’s point of view).

Laser Actuators – surroundings

../../_images/laser_horizontal.png
Part X(m) Y(m) Z(m) WX(deg) WY(deg) WZ(deg) Beam angle
D 0.12960 -0.02700 -0.30010 0.00000 1.00000 0.00000 60 °
E -0.08600 0.10100 -0.30000 -1.00000 0.00000 90.0000
F -0.08600 -0.10100 -0.30000 1.00000 0.00000 -90.0000

To access values by using ALMemory key names, see: Front (D), Left (E), Right (F).