sensor_msgs::msg::Range Class Reference

ROS message class definition for Range. More...

#include <sensor_msgs/msg/range.hpp>

Collaboration diagram for sensor_msgs::msg::Range:

Public Attributes
std_msgs::msg::Header	header
	timestamp in the header is the time the ranger
uint8_t	radiation_type
	the type of radiation used by the sensor
float	field_of_view
	the size of the arc that the distance reading is
float	min_range
	minimum range value [m]
float	max_range
	maximum range value [m]
float	range
	range data [m]

Static Public Attributes
static const uint8_t	ULTRASOUND = 0
static const uint8_t	INFRARED = 1

Detailed Description

ROS message class definition for Range.

Single range reading from an active ranger that emits energy and reports one range reading that is valid along an arc at the distance measured. This message is not appropriate for laser scanners. See the LaserScan message if you are working with a laser scanner.

This message also can represent a fixed-distance (binary) ranger. This sensor will have min_range===max_range===distance of detection. These sensors follow REP 117 and will output -Inf if the object is detected and +Inf if the object is outside of the detection range.

# Single range reading from an active ranger that emits energy and reports
# one range reading that is valid along an arc at the distance measured.
# This message is  not appropriate for laser scanners. See the LaserScan
# message if you are working with a laser scanner.
#
# This message also can represent a fixed-distance (binary) ranger.  This
# sensor will have min_range===max_range===distance of detection.
# These sensors follow REP 117 and will output -Inf if the object is detected
# and +Inf if the object is outside of the detection range.
 
std_msgs/Header header # timestamp in the header is the time the ranger
                             # returned the distance reading
 
# Radiation type enums
# If you want a value added to this list, send an email to the ros-users list
uint8 ULTRASOUND=0
uint8 INFRARED=1
 
uint8 radiation_type    # the type of radiation used by the sensor
                        # (sound, IR, etc) [enum]
 
float32 field_of_view   # the size of the arc that the distance reading is
                        # valid for [rad]
                        # the object causing the range reading may have
                        # been anywhere within -field_of_view/2 and
                        # field_of_view/2 at the measured range.
                        # 0 angle corresponds to the x-axis of the sensor.
 
float32 min_range       # minimum range value [m]
float32 max_range       # maximum range value [m]
                        # Fixed distance rangers require min_range==max_range
 
float32 range           # range data [m]
                        # (Note: values < range_min or > range_max should be discarded)
                        # Fixed distance rangers only output -Inf or +Inf.
                        # -Inf represents a detection within fixed distance.
                        # (Detection too close to the sensor to quantify)
                        # +Inf represents no detection within the fixed distance.
                        # (Object out of range)

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The documentation for this class was generated from the following file:

• sensor_msgs/msg/range.hpp