Range Sensor Parameters

<range layer> is the corresponding plugin name selected for this type.

<range layer>.enabled:
 
Type Default
bool True
Description

Whether it is enabled.

<range layer>.topics:
 
Type Default  
vector<string> [“”]
Description

Range topics to subscribe to.

<range layer>.phi:
 
Type Default
double 1.2
Description

Phi value.

<range layer>.inflate_cone:
 
Type Default
double 1.0
Description

Inflate the triangular area covered by the sensor (percentage).

<range layer>.no_readings_timeout:
 
Type Default
double 0.0
Description

If zero, this parameter has no effect. Otherwise if the layer does not receive sensor data for this amount of time, the layer will warn the user and the layer will be marked as not current.

<range layer>.clear_threshold:
 
Type Default
double 0.2
Description

Probability below which cells are marked as free.

<range layer>.mark_threshold:
 
Type Default
double 0.8
Description

Probability above which cells are marked as occupied.

<range layer>.clear_on_max_reading:
 
Type Default
bool False
Description

Whether to clear the sensor readings on max range.

<range layer>.input_sensor_type:
 
Type Default
string ALL
Description

Input sensor type is either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range).