Source code for simulation.src.gazebo_simulation.src.car_model.tof_sensors

from dataclasses import dataclass

from simulation.utils.geometry import Vector
from simulation.utils.urdf import DepthCameraProperties, Origin


[docs]def _get_depth_properties(name: str) -> DepthCameraProperties: NS = "/simulation/sensors/" return DepthCameraProperties( horizontal_fov=0.0349, update_rate=20, image_width=2, image_height=2, image_format="L8", clip_near=0.01, clip_far=2, point_cloud_cutoff=0.005, image_topic=NS + f"raw/distance_{name}", info_topic=NS + f"info/distance_{name}", frame_name=f"ir_{name}", point_cloud_topic_name=NS + f"raw/distance_{name}_points", )
[docs]@dataclass class TofSensor: name: str origin: Origin properties: DepthCameraProperties size: Vector = Vector(0.02, 0.02, 0.02) mass: float = 1e-5
[docs] @classmethod def with_default_properties(cls, name: str, origin: Origin) -> "TofSensor": return cls(name, origin, properties=_get_depth_properties(name))
@property def full_name(self) -> str: return f"ir_{self.name}"