Read data from multiple distance sensor

[bernardileonardo]

Hi, I have a gazebo model that includes multiple laser sensors : samples tag of tag scan of tag ray:6; plugin=libgazebo_lidar_plugin.so

If I use the MAVSDK-Pyton function mavsdk.telemetry.distance_sensor() I obtain value only from the first ray, how can i read data from the others?

[julianoes]

That's currently not supported. A pull request would be welcome to improve this.

The first step would be to adapt the API and change this line here:
https://github.com/mavlink/MAVSDK-Proto/blob/main/protos/telemetry/telemetry.proto#L283

To a repeated DistanceSensor distance_sensors = 1 so that it can contain several.

[Murali-IsPagro]

Hi, I have a gazebo model that includes multiple laser sensors : samples tag of tag scan of tag ray:6; plugin=libgazebo_lidar_plugin.so

If I use the MAVSDK-Pyton function mavsdk.telemetry.distance_sensor() I obtain value only from the first ray, how can i read data from the others?

@bernardileonardo
I had a same scenario I have used two sensor (LIDAR,) . I will explain below how I got multiple sensor data. It might useful for someone.

1. TFMini connected to GPS2 port in Pixhawk cube (configured as SENS_TFMINI_CFG -> GPS2)
2. Terarange One connected to I2C2 .(SENS_EN_TRANGER)

Next, I checked i2c is detected or not using "i2cdetect -b 2" It detects the address
Then, "ls /obj" found that distance_sensor 0 and distance_sensor 1 are publishing.
Last, "listener distance_sensor"

In MAVSDK-Python, I used telemetry.distance_sensor():

async for distance in drone.telemetry.distance_sensor():
    for i in range(2):
       print(f"distance %d: {distance.current_distance_m}"%i)

I got as two separate distance_sensor data.