scan.header.stamp = current_time
scan.header.frame_id = "forward_sensor"
scan.radiation_type = 0
- scan.field_of_view = 60*pi/180
- scan.min_range = 0.0
+ scan.field_of_view = 30*pi/180
+ scan.min_range = 0.04
scan.max_range = 4.0
scan.range = msg.d1/100.0
self.pub_sonar.publish(scan)