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Magnetometer Broadcaster

Broadcaster for magnetometer messages (type: sensor_msgs/msg/MagneticField), using the semantic_components::MagneticFieldSensor.

Parameters

This controller 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)

Defines sensor name used as prefix for its interfaces. Interface names are: <sensor_name>/magnetic_field.x, <sensor_name>/magnetic_field.x, <sensor_name>/magnetic_field.z.

Read only: True

Default: “”

Constraints:

parameter is not empty

frame_id (string)

Sensor’s frame_id in which values are published.

Read only: True

Default: “”

Constraints:

parameter is not empty

static_covariance (double_array)

Static covariance. Row major about x, y, z axes

Read only: True

Default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}

Constraints:

length must be equal to 9

An example parameter file

An example parameter file for this controller can be found in the test directory:

test_magnetometer_broadcaster:
  ros__parameters:
    sensor_name: magnetometer
    frame_id: magnetometer_frame