i for one would like to have it. While i am using a bumblebee xb3 on a pan tilt i would also like to use 4 MaxSonar sensors for softy detection. in this way the camera can be panned to map the location of the human. Not to mention window detection. -- View this message in context: http://ros-users.122217.n3.nabble.com/Ranger-Sonar-IR-message-added-to-sensor-msgs-tp1619438p1620614.html Sent from the ROS-Users mailing list archive at Nabble.com.