Sharp

The Sharp node reads a GP2Y infrared rangefinder and publishes distance as a standard ROS2 Range message.

Range: ~10 cm to 80 cm

Configuration

sharp:
  enabled: true
  sensors: ["side_ir"]
  side_ir:
    port: 22
    frame_id: "side_ir_link"

Parameters

Parameter	Description
port	Analog input channel (range 22 – 25)
frame_id	TF frame ID included in the message header

Topics

Published

Topic	Type	Description	Rate
/<name>/range	sensor_msgs/Range	Distance in metres. Out-of-range readings published as inf.	20 Hz

Service

Service name: /<name>/sharp_cmd
Type: studica_control/SetData

Command	Description
get_distance	Distance in centimetres