Lasers

Specification

The robot is equipped with 6 laser line generators.

Wavelength 808 nm https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/laser_class_1.png
Mode of operation pulsed
Global shutter camera
Framerate 6.25Hz per laser
Auto-exposure control

Location

Laser Sensors

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/laser_sensors.png

See the URDF files .

Part Name VFOV HFOV
1 LaserSensor/Front_sensor 40 ° 60 °
2 LaserSensor/Left_sensor
3 LaserSensor/Right_sensor

Laser Actuators - front ground evaluation

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_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

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_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) .