Value of sensor_msgs/Range field of view for ultrasound sensors.
I'm using SRF05 as backup sensors on my robot for some time, but have always wondered for the correct value of "field_of_view" in the Range message.
According to http://picaxe.hobbizine.com/srf05.html the field of view/detection zone is a non linear function with the broadest part at about 1m for this sensor and then constantly decreasing. Which makes it rather difficult to define the exact value for "field_of_view". I guess other ultrasound sensors have a similar pattern. So What value do you use for the field of view? The following options are in my mind:
- Set field of view for the broadest area, so the costmap always assumes the worst case
- Use an average value in the detection range
- Use an approximation function that sets "field_of_view" according to the current range value. But this can't be done in the gazebo ros_range plugin.