We need a node that scans probably whatever available sonar nodes and assembles them into one or more messages sent along a channel. This will establish this type of 'real world' measurement channel, so if/when we have more accurate things like lidar those nodes will just speak the same message language and consumers will not have to change much, just get more accurate info.
Speaking of consumers, there will be separate tickets, but some consumers of this data:
- The localizer or localizer correcter should listen to this data to build an in-progress of our best guess occupancy grid, so we can periodically try to correlate and correct that against the known world.
- The navigator in order to avoid colliding with things while its course planning.
- rviz so we can show some visuals on what our sensors are detecting around us for debugging.
We need a node that scans probably whatever available sonar nodes and assembles them into one or more messages sent along a channel. This will establish this type of 'real world' measurement channel, so if/when we have more accurate things like lidar those nodes will just speak the same message language and consumers will not have to change much, just get more accurate info.
Speaking of consumers, there will be separate tickets, but some consumers of this data: