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mavros_extras/obstacle_distance: Change namespace, add angle_offset #1370

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mavros_extras/obstacle_distance: Change namespace, add angle_offset #1370

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175123e
obstacle_distance: Change namespace to obstacle_distance
sfalexrog Dec 31, 2019
132a0ae
obstacle_distance: Set angle_offset to angle_min
sfalexrog Dec 31, 2019
6d0cd9e
px4_config: Set default mav_frame for obstacle_distance
sfalexrog Jan 10, 2020
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4 changes: 4 additions & 0 deletions mavros/launch/px4_config.yaml
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Expand Up @@ -257,4 +257,8 @@ wheel_odometry:
frame_id: "odom"
child_frame_id: "base_link"

# obstacle_distance
obstacle_distance:
mav_frame: "GLOBAL" # PX4 1.10 supports GLOBAL, LOCAL_NED, BODY_FRD

# vim:set ts=2 sw=2 et:
4 changes: 3 additions & 1 deletion mavros_extras/src/plugins/obstacle_distance.cpp
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Expand Up @@ -36,7 +36,7 @@ using mavlink::common::MAV_DISTANCE_SENSOR;
class ObstacleDistancePlugin : public plugin::PluginBase {
public:
ObstacleDistancePlugin() : PluginBase(),
obstacle_nh("~obstacle")
obstacle_nh("~obstacle_distance")
{ }

void initialize(UAS &uas_)
Expand Down Expand Up @@ -109,6 +109,8 @@ class ObstacleDistancePlugin : public plugin::PluginBase {
obstacle.min_distance = req->range_min * 1e2; //!< [centimeters]
obstacle.max_distance = req->range_max * 1e2; //!< [centimeters]
obstacle.frame = utils::enum_value(frame);
// Assume angle_increment is positive and incoming message is in a FRD/NED frame
obstacle.angle_offset = req->angle_min * RAD_TO_DEG; //!< [degrees]

ROS_DEBUG_STREAM_NAMED("obstacle_distance", "OBSDIST: sensor type: " << utils::to_string_enum<MAV_DISTANCE_SENSOR>(obstacle.sensor_type)
<< std::endl << obstacle.to_yaml());
Expand Down