Laser types and options may also be set in the robot parameter file.  See the
ARIA reference documentation for details.

If a program supports multiple lasers, then options for additional lasers
after the first are given by appending the laser number (e.g. -laserType2)
To enable use of a laser, choose its type with the -laserType<N> options
(e.g.: -laserType lms2xx -laserType2 urg)

The default laser type for the primary laser (laser 1) is "lms2xx".

Instruct a program to connect to a laser using the -connectLaser<N> option;
if a program requires use of a laser it usually always attempts to connect to
the primary laser, however.

The index number is optional in options for the primary laser (laser 1).



For laser type "lms2xx":

-laserPort <laserPort>
-lp <laserPort>
-laserPortType <serial|tcp>
-lpt <serial|tcp>
-remoteLaserTcpPort <remoteLaserTcpPort>
-rltp <remoteLaserTcpPort>
-laserFlipped <true|false>
-lf <true|false>
-laserMaxRange <maxRange>
-lmr <maxRange>
	<maxRange> is an unsigned int less than 32000
-laserDegrees <100|180>
-ld <100|180>
-laserIncrement <half|one>
-li <half|one>
-laserUnits <1mm|1cm|10cm>
-lu <1mm|1cm|10cm>
-laserReflectorBits <1ref|2ref|3ref>
-lrb <1ref|2ref|3ref>
-laserPowerControlled <true|false>
-lpc <true|false>
-laserStartingBaud <9600|19200|38400>
-lsb <9600|19200|38400>
-laserAutoBaud <9600|19200|38400>
-lab <9600|19200|38400>
-laserAdditionalIgnoreReadings <readings>
-lair <readings>
	<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "urg":

-laserPort <laserPort>
-lp <laserPort>
-laserPortType <serial|tcp>
-lpt <serial|tcp>
-remoteLaserTcpPort <remoteLaserTcpPort>
-rltp <remoteLaserTcpPort>
-laserFlipped <true|false>
-lf <true|false>
-laserMaxRange <maxRange>
-lmr <maxRange>
	<maxRange> is an unsigned int less than 4095
-laserDegreesStart <startAngle>
-lds <startAngle>
	<startAngle> is a double between -135 and 135
-laserDegreesEnd <endAngle>
-lde <endAngle>
	<endAngle> is a double between -135 and 135
-laserIncrementByDegrees <incrementByDegrees>
-libd <incrementByDegrees>
	<incrementByDegrees> is a double between 0 and 135
-laserStartingBaud <019200|057600|115200|250000|500000|750000>
-lsb <019200|057600|115200|250000|500000|750000>
-laserAutoBaud <019200|057600|115200|250000|500000|750000>
-lab <019200|057600|115200|250000|500000|750000>
-laserAdditionalIgnoreReadings <readings>
-lair <readings>
	<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
