- scan.angle_min = -opening_angle
- scan.angle_max = opening_angle
- scan.angle_increment = (2*opening_angle)/num_points
- scan.time_increment = 0.0
- scan.range_min = 0.0
- scan.range_max = 4.0
- for i in range(num_points):
- scan.ranges.append(msg.d1/100.0)
- #scan.intensities.append(0.5)
- #scan.intensities.append(1.0)
- #scan.intensities.append(0.5)
- self.pub_scan.publish(scan)
+ scan.radiation_type = 0
+ scan.field_of_view = 60*pi/180
+ scan.min_range = 0.0
+ scan.max_range = 4.0
+ scan.range = msg.d1/100.0
+ self.pub_sonar.publish(scan)