simulation.src.simulation_brain_link.src.sensor_tof package¶
Submodules¶
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.
Classes:
ROS node which receives a pointcloud and publishes the point with minimum norm of that pointcloud. |
- class SensorTofNode[source]¶
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
Methods:
start
()Start node.
stop
()Turn off node.
pointcloud_cb
(pc)Process new sensor information of depth camera.