Use rangefinder/range for rangefinder data (remapped in mavros side)

clever/launch/clever.launch

@@ -56,9 +56,8 @@
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
 
     <!-- vl53l1x ToF rangefinder -->
-    <node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
+    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
         <param name="frame_id" value="rangefinder"/>
-        <remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
     </node>
 
     <!-- rc backend -->

clever/launch/mavros.launch

@@ -4,6 +4,7 @@
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
+    <arg name="distance_sensor_remap" default="rangefinder/range"/>
 
     <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
@@ -27,6 +28,9 @@
         <!-- basic params -->
         <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
 
+        <!-- remap rangefinder -->
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>
+
         <rosparam param="plugin_whitelist">
             - altitude
             - command
@@ -52,6 +56,14 @@
         </rosparam>
     </node>
 
+    <!-- remapped distance_sensor config -->
+    <rosparam param="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))">
+        subscriber: true
+        id: 1
+        orientation: PITCH_270
+        covariance: 1  # cm
+    </rosparam>
+
     <!-- Rangefinders frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
 

clever/launch/mavros_config.yaml

@@ -77,9 +77,6 @@ distance_sensor:
       field_of_view: 0.5
   rangefinder_sub:
       subscriber: true
-      id: 1
-      orientation: PITCH_270
-      covariance: 1  # cm
 
 # fake_gps
 fake_gps:

clever/src/selfcheck.py

@@ -547,7 +547,7 @@ def check_rangefinder():
     # TODO: check FPS!
     rng = False
     try:
-        rospy.wait_for_message('mavros/distance_sensor/rangefinder_sub', Range, timeout=4)
+        rospy.wait_for_message('rangefinder/range', Range, timeout=4)
         rng = True
     except rospy.ROSException:
         failure('no rangefinder data from Raspberry')

docs/en/laser.md

@@ -1,5 +1,7 @@
 # Working with a laser rangefinder
 
+> **Note** Documentation for the [image](image.md), versions, starting with **0.18**. For older versions refer to [documentation for version **0.17**](https://github.com/CopterExpress/clever/blob/v0.17/docs/en/laser.md).
+
 ## VL53L1X Rangefinder
 
 The rangefinder model recommended for Clever is STM VL53L1X. This rangefinder can measure distances from 0 to 4 m while ensuring high measurement accuracy.
@@ -37,10 +39,10 @@ If the pin marked GND is occupied, you can use any other ground pin (look at the
 <arg name="rangefinder_vl53l1x" default="true"/>
 ```
 
-By default, the rangefinder driver sends the data to Pixhawk via the `/mavros/distance_sensor/rangefinder_sub` topic. To view data from the topic, use the following command:
+By default, the rangefinder driver sends the data to Pixhawk via the `/rangefinder/range` topic. To view data from the topic, use the following command:
 
 ```bash
-rostopic echo mavros/distance_sensor/rangefinder_sub
+rostopic echo /rangefinder/range
 ```
 
 ### PX4 settings
@@ -69,7 +71,7 @@ def range_callback(msg):
     # Process data from the rangefinder
     print 'Rangefinder distance:', msg.range
 
-rospy.Subscriber('mavros/distance_sensor/rangefinder_sub', Range, range_callback)
+rospy.Subscriber('rangefinder/range', Range, range_callback)
 ```
 
 ### Data visualization

docs/ru/laser.md

@@ -1,5 +1,7 @@
 # Работа с лазерным дальномером
 
+> **Note** Документация для версий [образа](image.md), начиная с **0.18**. Для более ранних версий см. [документацию для версии **0.17**](https://github.com/CopterExpress/clever/blob/v0.17/docs/ru/laser.md).
+
 ## Дальномер VL53L1X
 
 Рекомендуемая для Клевера модель дальномера – STM VL53L1X. Это дальномер может измерять расстояния от 0 до 4 м, при этом обеспечивая высокую точность измерений.
@@ -37,10 +39,10 @@
 <arg name="rangefinder_vl53l1x" default="true"/>
 ```
 
-По умолчания драйвер дальномера передает данные в Pixhawk (через топик `/mavros/distance_sensor/rangefinder_sub`). Для просмотра данных из топика используйте команду:
+По умолчания драйвер дальномера передает данные в Pixhawk (через топик `/rangefinder/range`). Для просмотра данных из топика используйте команду:
 
 ```bash
-rostopic echo mavros/distance_sensor/rangefinder_sub
+rostopic echo /rangefinder/range
 ```
 
 ### Настройки PX4
@@ -69,7 +71,7 @@ def range_callback(msg):
     # Обработка новых данных с дальномера
     print 'Rangefinder distance:', msg.range
 
-rospy.Subscriber('mavros/distance_sensor/rangefinder_sub', Range, range_callback)
+rospy.Subscriber('rangefinder/range', Range, range_callback)
 ```
 
 ### Визуализация данных