From f5bfabfab9bd9ea9a3a09c74cfa31233627092f3 Mon Sep 17 00:00:00 2001 From: Martina Date: Fri, 16 Feb 2018 14:04:49 +0100 Subject: [PATCH] add obstacle_distance message --- msg/obstacle_distance.msg | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 msg/obstacle_distance.msg diff --git a/msg/obstacle_distance.msg b/msg/obstacle_distance.msg new file mode 100644 index 0000000000..a2cf3f968c --- /dev/null +++ b/msg/obstacle_distance.msg @@ -0,0 +1,14 @@ +# Obstacle distances in front of the sensor. + +uint8 sensor_type # Type from MAV_DISTANCE_SENSOR enum. +uint8 MAV_DISTANCE_SENSOR_LASER = 0 +uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1 +uint8 MAV_DISTANCE_SENSOR_INFRARED = 2 +uint8 MAV_DISTANCE_SENSOR_RADAR = 3 + +uint16[72] distances # Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm. + +uint8 increment # Angular width in degrees of each array element. + +uint16 min_distance # Minimum distance the sensor can measure in centimeters. +uint16 max_distance # Maximum distance the sensor can measure in centimeters.