Sensor Layer

ROS2swarm provides several sensor layers to enable the use of robots with different sensor setups:

• lidar_layer

• ir_layer

• ir_tf_layer

The sensor layer receives the sensor data from the respective sensors and transforms it to a RangeData message.

std_msgs/Header header
float32[] ranges
float64[] angles

The RangeData message contains two arrays: (i) the measured distances or ranges and (ii) the angle of the measurement (e.g., position of IR sensor). The parameters of the sensor layer can be specified in the config file sensor_specification.yaml. New sensor layers can be easily integrated.