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The irrf module is seperate from the normal Saphira distribution. It comes with either a Irrf or a Irrf Integration kit from ActivMedia Robotics. For information contact sales@activmedia.com.

If you have purchased either of these you should be able to download new versions of this module from http://robots.activmedia.com/sicklrf

Do make sure your Saphira/versionIrrf file is the same version as your Saphira/version.txt file. There is dependency checking in Linux already, but not yet in the Windows installer. Its critical you're using the same versions for Saphira and its modules.

This module allows Saphira to use the ArIrrfDevice class in ARIA, for both display and the gradient module. The normal localization does not use the irrf as its an entirely different process, check out the irrf localization/navigation module. The display of the irrf is in green dots scattered on the screen where the irrf readings are. Note that by default Saphira readings close to each other are filtered out.

Even if you do not have this module you can use the ArIrrfDevice class in Saphira just like you use any of the other ARIA code (ie just compile it).


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