Hi,

i am getting no mapping for sensor id because of the supported count of range sensors in the plugin in SITL. I adapted the gazebo-iris as follows:

... SIM_SONAR_SCALE 10 RNGFND1_TYPE 1 RNGFND1_ORIENT 25 RNGFND1_SCALING 10 RNGFND1_PIN 0 RNGFND1_MAX_CM 5000 RNGFND1_ADDR 0x0

RNGFND2_TYPE 1 RNGFND2_ORIENT 0 RNGFND2_SCALING 10 RNGFND2_PIN 1 RNGFND2_MAX_CM 5000 RNGFND2_ADDR 0x1

RNGFND3_TYPE 1 RNGFND3_ORIENT 2 RNGFND3_SCALING 10 RNGFND3_PIN 2 RNGFND3_MAX_CM 5000 RNGFND3_ADDR 0x2

RNGFND4_TYPE 1 RNGFND4_ORIENT 4 RNGFND4_SCALING 10 RNGFND4_PIN 3 RNGFND4_MAX_CM 5000 RNGFND4_ADDR 0x3

RNGFND5_TYPE 1 RNGFND5_ORIENT 6 RNGFND5_SCALING 10 RNGFND5_PIN 4 RNGFND5_MAX_CM 5000 RNGFND5_ADDR 0x4

And i am trying to get the data from these sensors over MAVROS by adapting the apm_config.yaml:

distance_sensor: rangefinder_pub: id: 0 frame_id: "lidar"

orientation: PITCH_270 # sended by FCU

field_of_view: 0.0  # XXX TODO
send_tf: false
sensor_position: {x:  0.0, y:  0.0, z:  -0.1}

rangefinder_sub: subscriber: true id: 1 orientation: PITCH_270 # only that orientation are supported by APM 3.4+ rangefinder_sub: subscriber: true id: 2 orientation: PITCH_270 # only that orientation are supported by APM 3.4+ rangefinder_sub: subscriber: true id: 3 orientation: PITCH_270 # only that orientation are supported by APM 3.4+ rangefinder_sub: subscriber: true id: 4 orientation: PITCH_270 # only that orientation are supported by APM 3.4+

And i get the following error: [ERROR] [1656780269.135863111, 6911.310000000]: DS: no mapping for sensor id: 1, type: 4, orientation: 0 [ERROR] [1656780269.135983400, 6911.311000000]: DS: no mapping for sensor id: 2, type: 4, orientation: 2 [ERROR] [1656780269.136013852, 6911.311000000]: DS: no mapping for sensor id: 3, type: 4, orientation: 4

The reason seems obvious, single pub and a single sub supported. But the tutorial here shows it supports multiple sensors: https://github.com/Intelligent-Quads/iq_tutorials/blob/master/docs/proximity/proximity_overview.md The QGC screenshots in the tutorial indicates multiple range sensor proximity values (see red curves). How is that done?

Or is there something lacking in the tutorial?

Intelligent-Quads / iq_tutorials

Proximity tutorial assumes APM-SITL supports multiple RangeSensors (inputs) over ROS, but it seems it does not: #37

orientation: PITCH_270 # sended by FCU