Maintainer: ichen AT openrobotics DOT org

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Gazebo Sensors, a component of Gazebo, provides numerous sensor models designed to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with Gazebo Libraries, and especially relies on the rendering capabilities from Gazebo Rendering and physics simulation from Gazebo Physics.

Table of Contents

Features

Install

Usage

Folder Structure

Code of Conduct

Contributing

Versioning

License

Features

Gazebo Sensors provides a set of sensors models that can be configured at run time to mimic specific real-world sensors. A noise model is also provided that can be used to introduce Gaussian or custom noise models into sensor streams.

Supported Sensors

Sensor Name	API Link	SDF Element	Notes
Air Pressure Sensor	AirPressureSensor	<air_pressure>	Measures atmospheric pressure
Air Speed Sensor	AirSpeedSensor	<air_speed>	Measures the speed of air relative to the sensor
Altimeter	AltimeterSensor	<altimeter>	Measures altitude above a reference point
Bounding Box Camera	BoundingBoxCameraSensor	<camera>	Captures images with bounding box annotations
Camera	CameraSensor	<camera>	Captures standard RGB images
Depth Camera	DepthCameraSensor	<depth_camera>	Captures depth information
Doppler Velocity Log	DopplerVelocityLog	N/A	Measures relative velocity of an underwater vehicle
Force-Torque	ForceTorqueSensor	<force_torque>	Measures forces and torques on a joint
GPU Lidar	GpuLidarSensor	<lidar>	Simulates a 3D laser scanner using GPU acceleration
IMU	ImuSensor	<imu>	Measures linear acceleration and angular velocity
Logical Camera	LogicalCameraSensor	<logical_camera>	Detects models within a specified volume
Magnetometer	MagnetometerSensor	<magnetometer>	Measures magnetic field strength and direction
NavSat (GPS)	NavSatSensor	<navsat>	Simulates GPS-like positioning sensor
RGBD Camera	RGBDCameraSensor	<camera>	Captures RGB + Depth streams
Segmentation Camera	SegmentationCameraSensor	<camera>	Captures labeled segmentation images
Thermal Camera	ThermalCameraSensor	<camera>	Detects heat signature
Wide Angle Camera	WideAngleCameraSensor	<camera>	Captures wide field of view

Install

See the installation tutorial.

Usage

Please refer to the examples directory.

A list of sensors and SDF examples can be found in the SDF specification

Folder Structure

Refer to the following table for information about important directories and files in this repository.

├── examples                  Example programs.
├── include/gz/sensors        Header files that will be installed.
├── src                       Source files and unit tests.
├── test
│    ├── integration          Integration tests.
│    ├── performance          Performance tests.
│    └── regression           Regression tests.
├── tutorials                 Tutorials, written in markdown.
├── Changelog.md              Changelog.
├── CMakeLists.txt            CMake build script.
└── README.md                 This readme.

Contributing

Please see the contribution guide.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.