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.

previous

v18.sdf.Sdf

next

v18.sensor.Sensor.AirPressure