Add support for sonar sensors

Add support for up to six sonar sensors - Rename LoadRangeSensors to LoadSonarSensors - Subscribe to topics specified in plugin XML - Write JSON range elements if sonar data present Add further checks when applying forces - Add a check that the velocity or position component data arrays are not empty before accessing. Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Apr 14, 2022 · 9d08f68 · 9d08f68
1 parent aaffdc0
commit 9d08f68
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diff --git a/include/ArduPilotPlugin.hh b/include/ArduPilotPlugin.hh
@@ -109,7 +109,7 @@ namespace systems
         ignition::gazebo::EntityComponentManager &_ecm);
 
     /// \brief Load Range sensors
-    private: void LoadRangeSensors(
+    private: void LoadSonarSensors(
         sdf::ElementPtr _sdf,
         ignition::gazebo::EntityComponentManager &_ecm);