Adding 1D Laser Scanner - gsilano/BebopS GitHub Wiki

To estimate the wind turbine plane of rotation the UAV is equipped with 1D laser. The laser specifications are the following:

• update rate: 200 Hz
• min range: 0.1 m
• max range: 100 m
• resolution: 0.01 m

The transformation between the UAV and the laser is given with transformation matrix:

T = [1  0  0  0.111 ]
    [0  1  0  0.0   ]
    [0  0  1  0.0217]
    [0  0  0  1     ]

The sensor data are published on topic /laser/scan using sensor_msgs/LaserScan message.