Whether the distance sensor can obtain position information?

[wagh311]

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I am implementing the UAV obstacle avoidance mission and want to use the distance sensor to get the distance between the UAV and the obstacle. I would like to ask whether the distance sensor can not only obtain the distance information, but also obtain the location information of obstacles? For example, the coordinates of the contact point between the laser emitted by the distance sensor and the obstacle(that's the coordinates of the green points). If the distance sensor cannot obtain the coordinate information, is there any other way to achieve this requirement?

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the distance1 data is <DistanceSensorData> { 'distance': 9.344301223754883, 'max_distance': 40.0, 'min_distance': 0.20000000298023224, 'relative_pose': <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}, 'time_stamp': 1653041561676390400} the distance2 data is <DistanceSensorData> { 'distance': 40.14430236816406, 'max_distance': 40.0, 'min_distance': 0.20000000298023224, 'relative_pose': <Pose> { 'orientation': <Quaternionr> { 'w_val': 0.9659258127212524, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.258819043636322}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}, 'time_stamp': 1653041561676390400}

[jonyMarino]

Hi @wagh311! This is a matter of frame translation. You can get the frame of reference of the drone with simGetPose(), and then you translate that to your sensor frame of reference according to your settings in settings.json and finally add distance to the point.

[wagh311]

Ok, I will try what you said, thank you very much for your reply！