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Range Sensor Broadcaster
Broadcaster of messages from Range sensor.
The published message type is sensor_msgs/msg/Range
.
The controller is a wrapper around RangeSensor
semantic component (see controller_interface
package).
Parameters
The Range Sensor Broadcaster uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.
List of parameters
- sensor_name (string)
Name of the sensor used as prefix for interfaces if there are no individual interface names defined.
Default: “”
- frame_id (string)
Sensor’s frame_id in which values are published.
Default: “”
- radiation_type (int)
The type of radiation used by the sensor / 0 = Ultrason / 1 = Infrared
Default: 0
- field_of_view (double)
The size of the arc that the distance reading is valid for [rad]
Default: 0.52
- min_range (double)
Minimum range value [m]
Default: 0.52
- max_range (double)
Maximum range value [m]
Default: 4.0
An example parameter file
range_sensor_broadcaster:
ros__parameters:
field_of_view: 0.52
frame_id: ''
max_range: 4.0
min_range: 0.52
radiation_type: 0.0
sensor_name: ''
An example parameter file for this controller can be found in the test directory:
test_range_sensor_broadcaster:
ros__parameters:
# Setting mendatory parameters
sensor_name: "range_sensor"
frame_id: "range_sensor_frame"
# Setting parameters with changed default value to check those are used
radiation_type: 1
field_of_view: 0.1
min_range: 0.10
max_range: 7.0