Proposer: Chad Rockey
Present at review:
- Tully Foote
- Michael Carroll
- Eric Perko
- Gonçalo Cabrita
- Dave Hershberger
- Jack O'Quin
Detections that are too close to the sensor to quantify shall be represented by -Inf.
Finally, out of range detections will be represented by +Inf.
A fixed distance ranger is simply a ranger with min_range===max_range that can only output -Inf or +Inf.
An example of this sensor is the Sharp GP2D15: http://www.acroname.com/robotics/parts/R49-IR15.html
Only the comments are changing, so this will not trigger a migration.
# 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. 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)
Question / concerns / comments
Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.
- ((Tully)) This seems to be a reasonable update following REP 117.
- ((Michael)) No concerns or questions. Looks good.
To be filled out by proposer based on comments gathered during API review period
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