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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

variance (double)

Variance of the range value

Default: 0.0

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: ''
    variance: 0.0

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
    variance: 1.0