sensorConfig.md

Configuring sensor_pointcloud

Using sensorConfig.yml

Structure

Header

%YAML 1.2
---
# Configuration
sensor_pointcloud:
    pointcloudFrame: map

This portion declares:

1. The configuration file format (YAML 1.2)
2. The transform frame for the pointcloud

List of data sources

# List of Sensors
sensors:
    - sensor0
    ...
    - sensorX

Details for each data source

sensor0:
    topic: ultrasound/range
    device:
        type: SRF05
        pin: 14
        timeout: 60000
    transform:
        frame: sensor0
        posX: 0.03
        posY: -0.07
        posZ: 0.05
        roll: deg(0)
        pitch: deg(0)
        yaw: deg(-90)

Break it down.

• Identifier sensor0 as defined in the list of data sources
• Topic on which the device broadcasts sensor_msgs::Range messages
• (Optional) Sensor Definition for use with sensor_hub package
• (Optional) Transform of the sensor with respect to pointcloudFrame