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Message Type: Heading and Range

asked 2016-01-07 06:18:40 -0500

updated 2016-01-07 08:42:45 -0500

If you have a sensor with a beacon, which gives you the distance and the heading ( maybe Quaternion ) to the beacon, is there already a standard ROS message I could use for that?



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answered 2016-01-07 11:02:16 -0500

Well after some thinking, I guess I found an answer to that now. Probably the answer is just a point in the frame of the sensor. I just have polar coordinates then and I have to transform them into cartesian coordinates.

So I think it will be geometry_msgs/PointStamped then, with frame_id sensor_link.
Where x is looking in the direction of the sensors front.

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Points don't have a 'direction'?

gvdhoorn gravatar image gvdhoorn  ( 2016-01-07 11:39:03 -0500 )edit

Yes, but actually in the sensors frame it would result in one. Thinking of the sensor as origin. You get an angle for the z axis and a distance to it -> so it is like a polar coordinate you could translate in x and y. Actually I am also not sure if this resolves my problem. Because it is not ...

cyborg-x1 gravatar image cyborg-x1  ( 2016-01-08 03:50:05 -0500 )edit

really a heading I get. It is the ir-sensor from the EV3 which can detect it's infrared beacon. I need to test around with it how this works out. I think it could be used as a source for localization when using two of the beacons. ...

cyborg-x1 gravatar image cyborg-x1  ( 2016-01-08 03:53:21 -0500 )edit

(see IR Seeker mode)

cyborg-x1 gravatar image cyborg-x1  ( 2016-01-08 03:56:29 -0500 )edit

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Asked: 2016-01-07 06:18:40 -0500

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Last updated: Jan 07 '16