Add Proximity sensor option

[tonynajjar]

Title says it all

[iliabaranov]

Does the existing range sensor not work?

https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Range.html

It has specific definition for fixed distance ranging, which is essentially a proximity sensor

[tonynajjar]

What you linked is the Range message. Can you link me to the range sensor?

[iliabaranov]

Sure thing :)

gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_range.cpp

Line 286 in 231a721

void GazeboRosRange::PutRangeData(common::Time &_updateTime)

[tonynajjar]

Thanks. It's not available in ROS2, it has been replaced by the ray sensor, see here.

I didn't look in too much detail, but it seems to me like even the ROS1 range sensor does not support thresholding it to simulate a proximity sensor