IR Sensor Angles and Values? #478
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How are you connecting to your Create 3?Wi-Fi (ROS 2) Computer(s) Model(s) and Operating System(s)Mac OS, Fusion VM, Ubuntu 20.04 Which version of ROS 2 is installed on your computer?Galactic Which firmware version is installed on your robot?G.5.3 Which RMW is your robot running?CycloneDDS Does your robot have an assigned namespace? If so, please share.No response Is the robot connected to a network? If so, what is the network type?Yes: 2.4GHz Home WiFi Are there multiple Create 3 robots connected to your network?None Is multicast enabled?Yes What is the Adapter Board's USB/BLE Toggle currently switched to?Bluetooth (default) Describe your question.Is there a spec for the IR Sensors - angles and formula for distance from value? (This page has a 404 link to the ir intensity sensor info. Found it: This is my empirical result: (I think I got 0 deg opposite for a right-hand - should be left 0, no?) Anyone write a point-cloud rebroadcaster with the 7 ir_intensity sensor distances (with beam width, min/max distance, resolution, ...)? |
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Thanks for reporting the bug in the docs in passing. The IR sensors are obstacle sensors which report the intensity of reflected infrared light (subtracting out the ambient), and therefore do not report albedo-independent distance. I can put in a PR to fix the broken link. |
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Thanks for reporting the bug in the docs in passing. The IR sensors are obstacle sensors which report the intensity of reflected infrared light (subtracting out the ambient), and therefore do not report albedo-independent distance. I can put in a PR to fix the broken link.