Distance sensors improvements

[khancyr]

FEATURE details

• Add support for laser subscriber and publisher
• Limit the error stream at https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/distance_sensor.cpp#L208
  In case we send distance to FCU, at least on ardupilot, the message will be resend by the FCU so mavros spam the console.
• support add: MAV_DISTANCE_SENSOR_RADAR & MAV_DISTANCE_SENSOR_UNKNOWN mavlink#740 (if merged)

Can be assign to me !

[TSC21]

Add support for laser subscriber and publisher

You mean: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html ?

Limit the error stream at https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/distance_sensor.cpp#L208
In case we send distance to FCU, at least on ardupilot, the message will be resend by the FCU so mavros spam the console.

Ok makes sense. @JD-ETH this may interest you, as Ardupilot already does what you are looking for.

support mavlink/mavlink#740 (if merged)

Yeah that should be straightforward.

Waiting your PR then :)

[khancyr]

Yes I was thinking about laserscan, but it doesn't seem that ROS use a lot of 1D laser rangefinder. I will dig a little to see how they handle it.
Otherwise it could be use for Ardupilot proximity feature that act like a simplified 360 laserscan

[TSC21]

@khancyr check this: #292 (comment). For 1D Laser, we use INFRARED type in sensor_msgs/Range.

Otherwise it could be use for Ardupilot proximity feature that act like a simplified 360 laserscan

How do you have that implemented? Multiple DISTANCE_SENSOR msgs, one for each beam?

[TSC21]

Related: ros/common_msgs#73

[khancyr]

interesting ! Thanks for the information !

About proximity, yes , each sector send a distance_sensor msg with a different id : http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

[TSC21]

About proximity, yes , each sector send a distance_sensor msg with a different id : http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

Thanks for sharing

[TSC21]

@khancyr are you considering doing a PR to this in the mean time?

[khancyr]

yes probably next week, I am waiting some material to do test

[TSC21]

yes probably next week, I am waiting some material to do test

Awesome

[TSC21]

Solved with #747, #748, #749.