OK I just uploaded v. 0.1.8 which includes a few bug fixes, terrain shadows, and most importantly the Canesta range camera on the ATRVJr. It is deactivated by default because it uses a ton of bandwidth. Also get SARGEController 1.5 which includes functions to use the Canesta sensor.

Tags: canesta

The simulated spinning laser is now working quite well.  I've improved the speed of SARGE when using it quite a bit now, though I'm not done exploring a few more optimization options.  Anyway here's a screenshot.  I'll post a new project file with these enhancements soon as well as the visualization tools to use with it.

Tags: laser