Gazebo Sensors : Sensor models for simulation

Maintainer: ichen AT openrobotics DOT org

Build | Status -- | -- Test coverage | GitHub: Ubuntu Noble | Jenkins: Ubuntu Noble | Jenkins: Homebrew | Jenkins: Windows |

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.