simulation.src.simulation_brain_link.src.sensor_tof.node module

Gazebo does not provide distance sensors out of the box.

As a workaround, the simulated Dr. Drift is equipped with depth cameras. The depth camera sensor data is then converted into a distance by extracting the closest point inside the depth cameras point cloud.

This is done separately for each time of flight sensor through an instance of the SensorTofNode.

Summary

Classes:

SensorTofNode

ROS node which receives a pointcloud and publishes the point with minimum norm of that pointcloud.

Reference

class SensorTofNode

Bases: simulation.utils.ros_base.node_base.NodeBase

ROS node which receives a pointcloud and publishes the point with minimum norm of that pointcloud. This is done to emulate a time of flight sensor.

subscriber

Subscribes to depth camera sensor from gazebo

Type

rospy.subscriber

publisher

Publishes distance to object on tof topic

Type

rospy.publisher

start()

Start node.

stop()

Turn off node.

pointcloud_cb(pc: sensor_msgs.msg._PointCloud2.PointCloud2)

Process new sensor information of depth camera.