ROS2 消息格式 Range

文件：sensor_msgs/msg/Range.msg

消息定义

原始消息定义

# Single range reading from an active ranger that emits energy and reports

# one range reading that is valid along an arc at the distance measured.

# This message is not appropriate for laser scanners. See the LaserScan

# message if you are working with a laser scanner.

#

# This message also can represent a fixed-distance (binary) ranger. This

# sensor will have min_range===max_range===distance of detection.

# These sensors follow REP 117 and will output -Inf if the object is detected

# and +Inf if the object is outside of the detection range.


#std_msgs/Header header # timestamp in the header is the time the ranger

# # returned the distance reading


# Radiation type enums

# If you want a value added to this list, send an email to the ros-users list

uint8 ULTRASOUND=0
uint8 INFRARED=1

#uint8 radiation_type # the type of radiation used by the sensor

# # (sound, IR, etc) [enum]


#float32 field_of_view # the size of the arc that the distance reading is

# # valid for [rad]

# # the object causing the range reading may have

# # been anywhere within -field_of_view/2 and

# # field_of_view/2 at the measured range.

# # 0 angle corresponds to the x-axis of the sensor.


#float32 min_range # minimum range value [m]

#float32 max_range # maximum range value [m]

# # Fixed distance rangers require min_range==max_range


#float32 range # range data [m]

# # (Note: values < range_min or > range_max should be discarded)

# # Fixed distance rangers only output -Inf or +Inf.

# # -Inf represents a detection within fixed distance.

# # (Detection too close to the sensor to quantify)

# # +Inf represents no detection within the fixed distance.

# # (Object out of range)

紧凑消息定义

uint8 ULTRASOUND=0
uint8 INFRARED=1
std_msgs/msg/Header header
uint8 radiation_type
float field_of_view
float min_range
float max_range
float range