messageDefinition property

@override String get messageDefinition

Implementation

@override
String get messageDefinition {
  // Returns full string definition for message
  return '''# Single range reading from an active ranger that emits energy and reports
# one range reading that is valid along an arc at the distance measured.
# This message is  not appropriate for laser scanners. See the LaserScan
# message if you are working with a laser scanner.

# This message also can represent a fixed-distance (binary) ranger.  This
# sensor will have min_range===max_range===distance of detection.
# These sensors follow REP 117 and will output -Inf if the object is detected
# and +Inf if the object is outside of the detection range.

Header header           # timestamp in the header is the time the ranger
                      # returned the distance reading

# Radiation type enums
# If you want a value added to this list, send an email to the ros-users list
uint8 ULTRASOUND=0
uint8 INFRARED=1

uint8 radiation_type    # the type of radiation used by the sensor
                      # (sound, IR, etc) [enum]

float32 field_of_view   # the size of the arc that the distance reading is
                      # valid for [rad]
                      # the object causing the range reading may have
                      # been anywhere within -field_of_view/2 and
                      # field_of_view/2 at the measured range.
                      # 0 angle corresponds to the x-axis of the sensor.

float32 min_range       # minimum range value [m]
float32 max_range       # maximum range value [m]
                      # Fixed distance rangers require min_range==max_range

float32 range           # range data [m]
                      # (Note: values < range_min or > range_max
                      # should be discarded)
                      # Fixed distance rangers only output -Inf or +Inf.
                      # -Inf represents a detection within fixed distance.
                      # (Detection too close to the sensor to quantify)
                      # +Inf represents no detection within the fixed distance.
                      # (Object out of range)
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id

''';
}