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)