# 带距离传感器的 ROS

## ROS 距离传感器使用[¶](https://ardupilot.org/dev/docs/ros-distance-sensors.html#ros-distance-sensor-usage)

### 距离传感器消息[¶](https://ardupilot.org/dev/docs/ros-distance-sensors.html#distance-sensor-message)

ArduPilot支持[距离传感器消息](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR)作为输入和输出。 以下章节将解释如何将距离传感器与ROS一起使用：

* 测距仪：如何从FCU中的测距器插头（例如pixhawk）接收数据以及如何将数据从ROS发送到FCU
* 邻近：如何从FCU从邻近度库接收数据以及如何将360度激光雷达数据发送到FCU

### 测距[¶](https://ardupilot.org/dev/docs/ros-distance-sensors.html#rangefinder)

#### 从金融情报局接收[¶](https://ardupilot.org/dev/docs/ros-distance-sensors.html#receive-from-fcu)

警告

距离传感器消息当前支持：

* ArduPilot Master
* 直升机>= 3.5.1（计划）
* 漫游车>= 3.2.0（计划）
* 平面>= 3.8.0（计划）

默认情况下，ArduPilot将为Rover上FCU上连接的每个测距仪发送距离传感器消息，并且仅在直升机和飞机上向下（PITCH\_270）。 示例：启动 SITL 并添加模拟测距仪，[请参阅此处的 SITL 说明](https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#adding-a-virtual-rangefinder)。 使用默认配置启动 MAVROS。您应该在 /mavros/distance\_sensor/rangefinder\_pub 中拥有测距仪数据。

```
Configuration in apm_config.yaml:
distance_sensor:    <== plugin name
  rangefinder_pub:  <== ROS publisher name
    id: 0             <== sensor instance number starting at 0
    frame_id: "lidar" <== frame name for TF
    #orientation: PITCH_270 # sended by FCU
    field_of_view: 0.0  <== sensor FOV see `ROS instructions here <http://docs.ros.org/api/sensor_msgs/html/msg/Range.html>`__
```

#### 发送到金融情报局[¶](https://ardupilot.org/dev/docs/ros-distance-sensors.html#send-to-fcu)

例如，ArduPilot支持接收来自Companion Computer的测距仪数据。 为此，请在ArduPilot端设置一个MAVLink测距仪，只需在MAVROS插件中设置一个订户：

```
Configuration in apm_config.yaml:
distance_sensor:       <== plugin name
  rangefinder_sub:     <== ROS subscriber name
    subscriber: true   <== set subscriber type
    id: 1              <== sensor instance number must match the one set on ArduPilot side
    orientation: PITCH_270  <== only that orientation are supported by Copter 3.4+
```

现在，在 /mavros/distance\_sensor/rangefinder\_sub 上发布 sensor\_msgs/Range 消息。 使用 GCS，您可以在测距仪测量中查看数据。

### 接近[¶](https://ardupilot.org/dev/docs/ros-distance-sensors.html#proximity)

警告

进行中的工作

我们热衷于改进ArduPilot对ROS的支持，因此如果您发现问题（例如似乎不支持的命令），请在[ArduPilot问题列表中](https://github.com/ArduPilot/ardupilot/issues)报告它们，标题包含“ROS”，我们将尝试尽快解决这些问题。


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