+ def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+ msg = Range()
+ msg.header.stamp = rospy.Time.now()
+ msg.header.frame_id = frame_id
+ msg.radiation_type = typ
+ msg.field_of_view = fov_deg*pi/180
+ msg.min_range = min_range
+ msg.max_range = max_range
+ msg.range = dist
+ pub.publish(msg)
+