Skip to content

Distance sensor

ROS / ros eco / packages / mavros

Plugin

mavros_extra distance_sensor

The plugin use as publisher for mavlink DISTANCE_SENSOR(132) And can be Subscriber and send range data into the FCU

Rangefinder

Ardupilot send mavlink message Rangefinder (173) There is a plugin in that handle this message mavros_extra.rangefinder

1
ros2 service call /mavros/set_message_interval mavros_msgs/srv/MessageInterval "{message_id: 173, message_rate: 1.0}"
mavlink mavros topic(message)
DISTANCE_SENSOR(132) rangefinder (sensor_msgs/msg/Range)

Topic name

The topic name set by the config param

rangefinder_pub is the topic name for sensor id 0

1
2
3
4
5
/**/distance_sensor:
  ros__parameters:
    config: |
    rangefinder_pub: 
        id: 0

usage

set message interval
1
ros2 service call /mavros/set_message_interval mavros_msgs/srv/MessageInterval "{message_id: 132, message_rate: 1.0}"

Parameters

para
 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
/**/distance_sensor:
  ros__parameters:
    config: |
      rangefinder_pub: 
        id: 0
        frame_id: "lidar"
        # orientation: PITCH_270  # sended by FCU
        field_of_view: 0.0        # XXX TODO
        send_tf: false
        sensor_position: {x:  0.0, y:  0.0, z:  -0.1}
      rangefinder_sub:
        subscriber: true
        id: 1
        orientation: PITCH_270  # only that orientation are supported by APM 3.4+
  1. line 4: use as publisher topic name
  2. line 11: use as subscriber topic name

Config publisher

field usage
subscriber default(false)
id sensor id
frame_id use by message header frame_id and tf message
field_of_view sensor info
send_tf send data as tf default(false)

| custom_orientation | |

Config subscriber

field usage
orientation
covariance
horizontal_fov_ratio
vertical_fov_ratio
sensor_position
---

Reference