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sensor_msgs/Range lacks variance field #180

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ejalaa12 opened this issue Mar 16, 2022 · 4 comments · Fixed by #181
Closed

sensor_msgs/Range lacks variance field #180

ejalaa12 opened this issue Mar 16, 2022 · 4 comments · Fixed by #181
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help wanted Extra attention is needed

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@ejalaa12
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Hi,
As previously asked by @okalachev in the ros1 counterpart: ros/common_msgs#142

All the sensor related messages have variance/covariance field: FluidPressure, Illuminance, Imu, MagneticField, NavSatFix, RelativeHumidity, Temperature; while Range lacks it.

Though rangefinders' datasheets often provide such information, and it can be quite useful for the consumers of rangefinder drivers.

Is it something that you would consider for ros2 as well ?

Thank you.
@gbiggs
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gbiggs commented Mar 16, 2022

Yes, if a PR were provided I think we would consider it.

@ejalaa12
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Sure, I can open it.

ejalaa12 added a commit to ejalaa12/common_interfaces that referenced this issue Mar 17, 2022
@ejalaa12
sensor_msgs/Range lacks variance field
036fd2a 
Fixes ros2#180
@ejalaa12 ejalaa12 mentioned this issue Mar 17, 2022
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ejalaa12 added a commit to ejalaa12/common_interfaces that referenced this issue Mar 17, 2022
@ejalaa12
sensor_msgs/Range lacks variance field
5f4d777 
Fixes ros2#180

Signed-off-by: Alaa <[email protected]>
@clalancette clalancette added the help wanted Extra attention is needed label Mar 31, 2022
clalancette pushed a commit to ejalaa12/common_interfaces that referenced this issue Mar 13, 2023
@ejalaa12 @clalancette
sensor_msgs/Range lacks variance field
307344c 
Fixes ros2#180

Signed-off-by: Alaa <[email protected]>
clalancette pushed a commit that referenced this issue Mar 15, 2023
@ejalaa12
sensor_msgs/Range lacks variance field (#181)
05d7e19 
* sensor_msgs/Range lacks variance field
Fixes #180

Signed-off-by: Alaa <[email protected]>
@okalachev
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Why 0 is interpreted as variance unknown? Wouldn't it be better using NAN for that?

I mean, the variance can be equal to zero, if this is an absolute precise (ideal) data, like from a simulation.

@ejalaa12
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ejalaa12 commented Mar 16, 2023 •
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@okalachev That's the convention for all other messages. This is defined in ROS Rep-145
Another reason why I believe nan might not be a good idea, is that It can break computation in other nodes, if they don't safe check for nans.

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sensor_msgs/Range lacks variance field ejalaa12/common_interfaces
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@clalancette @gbiggs @okalachev @ejalaa12