Question: range of intensities list in `data` topic

[ssagrawal01]

Hi Anas and Henrique,

Question for you about the data topic. The list of intensities: does the list run from 0 meters up to maximum range, or does it run from sensor minimum range (i.e. 0.75m) to sensor maximum range?

Thank you very much for the helpful package,
Siddharth

[Stormix]

Hey Siddharth,

Actually in the data topic, the list of intensities, corresponds to a single range, as you can see in the provided msg definition. The sonar samples the range and for each sample point an intensity is returned.:

  uint8 range      #  range value [m]
  uint8[] intensities    # intensity data [0-255].  This is the actual data received from the sonar

Here's an excerpt from our project report, that explains how the sonar works:

Let me know if you have anymore questions.

Anas