Sonar format

sonar log format

The following type:subtype sonar messages can be logged:

  • 1:1 (PLAYER_SONAR_DATA_RANGES) Range data. The format is:
    • range_count (int): number range values to follow
    • list of readings; for each reading:
      • range (float): in meters
  • 1:2 (PLAYER_SONAR_DATA_GEOM) Geometry data. The format is:
    • pose_count (int): number of sonar poses to follow
    • list of tranducer poses; for each pose:
      • x (float): relative X position of transducer, in meters
      • y (float): relative Y position of transducer, in meters
      • a (float): relative yaw orientation of transducer, in radians
  • 4:1 (PLAYER_SONAR_REQ_GET_GEOM) Geometry info. The format is:
    • pose_count (int): number of sonar poses to follow
    • list of tranducer poses; for each pose:
      • x (float): relative X position of transducer, in meters
      • y (float): relative Y position of transducer, in meters
      • a (float): relative yaw orientation of transducer, in radians