v14.sensor.Sensor

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v14.sensor.Sensor(always_on=False, update_rate=0.0, visualize=False, pose='0 0 0 0 0 0', topic='__default__', plugin=<factory>, camera=None, contact=None, force_torque=None, gps=None, imu=None, ray=None, rfidtag=None, rfid=None, sonar=None, transceiver=None, name=None, type=None)

The sensor tag describes the type and properties of a sensor.

Parameters
always_on: If true the sensor will always be updated according to

the update rate.

update_rate: The frequency at which the sensor data is generated. If

left unspecified, the sensor will generate data every cycle.

visualize: If true, the sensor is visualized in the GUI
pose: This is the pose of the sensor, relative to the parent link

reference frame.

topic: Name of the topic on which data is published. This is

necessary for visualization

plugin: A plugin is a dynamically loaded chunk of code. It can exist

as a child of world, model, and sensor.

camera: These elements are specific to camera sensors.
contact: These elements are specific to the contact sensor.
force_torque: These elements are specific to the force torque

sensor.

gps: These elements are specific to the GPS sensor.
imu: These elements are specific to the IMU sensor.
ray: These elements are specific to the ray (laser) sensor.
rfidtag:
rfid:
sonar: These elements are specific to the sonar sensor.
transceiver: These elements are specific to a wireless transceiver.
name: A unique name for the sensor. This name must not match another

model in the model.

type: The type name of the sensor. By default, SDFormat supports

types camera, depth, multicamera, contact, gps, imu, ir and ray.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v14.sensor.Sensor.Camera([pose, ...])

These elements are specific to camera sensors.

v14.sensor.Sensor.Contact([collision, topic])

These elements are specific to the contact sensor.

v14.sensor.Sensor.ForceTorque([frame])

These elements are specific to the force torque sensor.

v14.sensor.Sensor.Gps([position_sensing, ...])

These elements are specific to the GPS sensor.

v14.sensor.Sensor.Imu([topic, noise])

These elements are specific to the IMU sensor.

v14.sensor.Sensor.Plugin([any_element, ...])

A plugin is a dynamically loaded chunk of code.

v14.sensor.Sensor.Ray([scan, range, noise])

These elements are specific to the ray (laser) sensor.

v14.sensor.Sensor.Sonar([min, max, radius])

These elements are specific to the sonar sensor.

v14.sensor.Sensor.Transceiver([essid, ...])

These elements are specific to a wireless transceiver.