Source code for morse.middleware.ros.infrared
from sensor_msgs.msg import Range
from morse.middleware.ros import ROSPublisher
[docs]class RangePublisher(ROSPublisher):
""" Publish the range of the infrared sensor. """
ros_class = Range
[docs] def default(self, ci='unused'):
msg = Range()
msg.header = self.get_ros_header()
msg.radiation_type = Range.INFRARED
msg.field_of_view = 20
msg.min_range = 0
msg.max_range = self.component_instance.bge_object['laser_range']
tmp = msg.max_range
for ray in self.data['range_list']:
if tmp > ray:
tmp = ray
msg.range = tmp
self.publish(msg)