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sharp ir sensor

asked 2018-03-23 21:34:35 -0500

zucky gravatar image

i add 8 sharp ir into my robot, how to see in my rviz, and how to add tf for ir laser. my main laser is hokuyo ust 10lx. help me please. thank you

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answered 2018-04-03 17:14:59 -0500

Mark Rose gravatar image

Easiest way is to add the IR frame position to your URDF robot description. Assuming you are already publishing the robot state, that should add the TF for the IR sensor automatically. You'll also have to write a node to read the analog values from the IR sensor and convert to a distance, then publish that. It's probably easiest to make the IR sensor look like a laser scanner with only a single scan point. (Reason: some off-the-shelf ROS nodes will work with laser scan messages but not single distance reading messages. Sigh...)

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thank you very much

zucky gravatar image zucky  ( 2018-04-03 21:57:28 -0500 )edit

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Asked: 2018-03-23 21:34:35 -0500

Seen: 174 times

Last updated: Apr 03 '18