v18.sensor.Sensor

Warning

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

class v18.sensor.Sensor(always_on=False, update_rate=0.0, visualize=False, topic='__default__', enable_metrics=False, pose=None, plugin=<factory>, air_pressure=None, altimeter=None, camera=None, contact=None, force_torque=None, gps=None, imu=None, lidar=None, logical_camera=None, magnetometer=None, navsat=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
topic: Name of the topic on which data is published. This is

necessary for visualization

enable_metrics: If true, the sensor will publish performance metrics
pose: A position (x,y,z) and orientation (roll, pitch yaw) with

respect to the frame named in the relative_to attribute.

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

as a child of world, model, and sensor.

air_pressure: These elements are specific to an air pressure sensor.
altimeter: These elements are specific to an altimeter 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.
lidar: These elements are specific to the lidar sensor.
logical_camera: These elements are specific to logical camera

sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.

magnetometer: These elements are specific to a Magnetometer sensor.
navsat: These elements are specific to the NAVSAT 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 air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The “ray”, “gpu_ray”, and “gps” types are equivalent to “lidar”, “gpu_lidar”, and “navsat”, respectively. It is preferred to use “lidar”, “gpu_lidar”, and “navsat” since “ray”, “gpu_ray”, and “gps” will be deprecated. The “ray”, “gpu_ray”, and “gps” types are maintained for legacy support.

Nested Elements

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

v18.sensor.Sensor.AirPressure([...])

These elements are specific to an air pressure sensor.

v18.sensor.Sensor.Altimeter([...])

These elements are specific to an altimeter sensor.

v18.sensor.Sensor.Camera([horizontal_fov, ...])

These elements are specific to camera sensors.

v18.sensor.Sensor.Contact([collision, topic])

These elements are specific to the contact sensor.

v18.sensor.Sensor.ForceTorque([frame, ...])

These elements are specific to the force torque sensor.

v18.sensor.Sensor.Gps([position_sensing, ...])

These elements are specific to the GPS sensor.

v18.sensor.Sensor.Imu([...])

These elements are specific to the IMU sensor.

v18.sensor.Sensor.Lidar([scan, range, noise])

These elements are specific to the lidar sensor.

v18.sensor.Sensor.LogicalCamera([near, far, ...])

These elements are specific to logical camera sensors.

v18.sensor.Sensor.Magnetometer([x, y, z])

These elements are specific to a Magnetometer sensor.

v18.sensor.Sensor.Navsat([position_sensing, ...])

These elements are specific to the NAVSAT sensor.

v18.sensor.Sensor.Plugin([any_element, ...])

A plugin is a dynamically loaded chunk of code.

v18.sensor.Sensor.Pose([value, relative_to])

Parameters

v18.sensor.Sensor.Ray([scan, range, noise])

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

v18.sensor.Sensor.Sonar([geometry, min, ...])

These elements are specific to the sonar sensor.

v18.sensor.Sensor.Transceiver([essid, ...])

These elements are specific to a wireless transceiver.