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In my end of studies project, I have to make a robot that should do mapping and localization using only ultrasounds sensor. So for doing this i should convert sensor_msgs/LaserScan message to sensor_msgs/Range message.
My question: How can i do this ??
If you already have a map, and want incorporate your sensor_msgs/Range in move_base, modify the existing obstacle_layer plugin to subscribe to a topic with message type sensor_msgs/Range instead of sensor_msgs/LaserScan.
Any reason to not just use range_sensor_layer?
You should be knowing the angle(bearing) where your ultrasound sensors are positioned. Say you have 4 sensors placed in a circular fashion with a relative angular displacement of 90 degrees. You can use the above data to manipulate the fields in sensor_msgs/LaserScan. Append the range measured in the 'range' field. In this case the 'angle_increment' is 1.57 radians.
If you already have a map, and want incorporate your sensor_msgs/Range in move_base, modify the existing obstacle_layer plugin to subscribe to a topic with message type sensor_msgs/Range instead of sensor_msgs/LaserScan.
I agree with you. Since the costmap layers are plugins, one may hack an existing layer plugin and name it whatever they would like to. That's why I suggested that.
Asked: 2017-06-27 14:24:29 -0500
Seen: 1,259 times
Last updated: May 13 '19
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