MultibeamSensor

Multibeam sensors, attached to a vehicle, provide multiple distance measures in the Z axis to the nearest obstacles along the X axis. The sensor simulates an array of beams able to measure the distance to the nearest obstacle in equally distributed angles from a starting angle to a final angle. The output of the sensor can be published in a multibeamSensorToLaserScan ROS interface.

XML syntax

Multibeam sensors require a name, relativeTo, initAngle, finalAngle, angleIncr and range parameters.

• name: This parameters sets the device name that will identify it.
• relativeTo: The name of the vehicle's link where the device is attached.
• visible: Activates or deactivates the debug lines that shows each of the device beams in the main view of UWSim.
• position: Initial position of the device with respect to the vehicle's link.
• orientation: Initial rotation of the device with respect to the vehicle's link, stated in RPY.
• initAngle The starting angle where the device will place the first beam.
• finalAngle The final angle where the device will place the last beam.
• angleIncr The angle difference between consecutive beams.
• range: Maximum distance of each beam in the device. In case there is no object between the sensor and maximum distance the device will return maximum distance.

Besides this tags multibeam sensors have an attribute underwaterParticles (true|false) that configures the underwater particles noise. By default this attribute is set to false as the noise generated by osgOcean is too high.