mb_msgs

ROS message types for sonars.

Overview

This package contains two message types meant for use with single-, split- and multi-beam sonars. It defines two message types

• Ping - this type is closer to raw sonar data; it uses the sensor_msgs/Image type to transport magnitude and phase from the sonar, and defines additional information (such as beam direction, range bins, etc.)
• Scan - this type captures returns extracted from the raw sonar data. For each return, the message carries its coordinates, magnitude, and phase. It also carries range bounds and beamwidth information.

Contributing

Feel free to contribute by opening issues and creating pull requests.