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pcg_gazebo.simulation.sensors

pcg_gazebo.simulation.sensors

Camera

Camera(self,
       name='camera',
       type='camera',
       camera_name='camera',
       always_on=True,
       update_rate=50,
       visualize=True,
       topic='camera',
       pose=[0, 0, 0, 0, 0, 0],
       noise_type='gaussian',
       noise_mean=0,
       noise_stddev=0,
       horizontal_fov=1.047,
       image_width=320,
       image_height=240,
       image_format='R8G8B8',
       clip_near=0.1,
       clip_far=100,
       distortion_k1=0,
       distortion_k2=0,
       distortion_k3=0,
       distortion_p1=0,
       distortion_p2=0,
       distortion_center=[0.5, 0.5])

Contact

Contact(self,
        name='contact',
        always_on=True,
        update_rate=50,
        visualize=True,
        topic='contact',
        pose=[0, 0, 0, 0, 0, 0],
        collision_element_name='')

IMU

IMU(self,
    name='imu',
    always_on=True,
    update_rate=50,
    visualize=False,
    topic='topic',
    pose=[0, 0, 0, 0, 0, 0])

Ray

Ray(self,
    name='ray',
    always_on=True,
    update_rate=50,
    visualize=True,
    topic='scan',
    pose=[0, 0, 0, 0, 0, 0],
    horizontal_samples=640,
    horizontal_resolution=1,
    horizontal_min_angle=0,
    horizontal_max_angle=0,
    vertical_samples=1,
    vertical_resolution=1,
    vertical_min_angle=0,
    vertical_max_angle=0,
    range_min=0,
    range_max=0,
    range_resolution=0,
    noise_mean=0,
    noise_stddev=0)

Sensor

Sensor(self,
       name='sensor',
       always_on=True,
       update_rate=50,
       visualize=False,
       topic=None,
       pose=[0, 0, 0, 0, 0, 0])

pose

pcg_gazebo.simulation.properties.Pose: Pose of the object