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ROS API

The package cob_ultrasonic is responsible for the visualisation of output from an ultrasonic sensor. It provides an output in the form of feature interactive markers messages and a laser scan. The feature marker messages provide information about each feature detected by the ultrasonic sensor whereas the laser scan messages provide 360 degrees visualisation.

ultrasonic_node

The ultrasonic_node node publishes sensor_msgs/LaserScan and visualization_msgs/InteractiveMarker based on the output from an ultrasonic sensor.

Published Topics

/ultrasonic (visualization_msgs/InteractiveMarker)

• The features will be published on this topic

/scan (sensor_msgs/LaserScan)

• The laserscan message generated will be published on this topic.

Parameters

frame_id (string, default: /my_frame)

• It can be used to set custom frame ids for the markers.

namespace (string, default: )

• It can be used to setup a separate namespace for all the markers.

line_color (integer, default: 0)

• For setting the colour of lines. Permissible values: 0=RED, 1=GREEN, 2=BLUE.

point_color (integer, default: 1)

• For setting the colour of points. Permissible values: 0=RED, 1=GREEN, 2=BLUE.

marker_radius (double, default: 10.0)

• This parameter can be used to set the radius for points and fasts.

laserscan_range_min (double, default: 0.05)

• This parameter is used define the minimum range for the laser scan message.

laserscan_range_max (double, default: 10.0)

• This parameter is used define the maximum range for the laser scan message.

Usage/Examples

roslaunch cob_ultrasonic ultrasonic_node.launch