KITcar Simulation
2021.07

Tutorials

  • Installation
  • Getting Started
  • master.launch
  • Drive in Simulation
  • Roads
  • Road Sections
  • Models and Sensors
  • Simulated Rosbags
  • Datasets
  • Cycle GAN
  • How to Write Tests Using the Simulation
  • Scan Real Roads

ROS Packages

  • gazebo_simulation
  • simulation_brain_link
    • simulation.src.simulation_brain_link.src.sensor_camera package
    • simulation.src.simulation_brain_link.src.sensor_tof package
      • Submodules
      • simulation.src.simulation_brain_link.src.sensor_tof.node module
      • Module contents
    • simulation.src.simulation_brain_link.src.vehicle_simulation_link package
    • Sensors
    • Dynamics
    • Coordinate Frames
  • simulation_evaluation
  • simulation_groundtruth

Python Packages

  • simulation.utils.basics package
  • simulation.utils.geometry package
  • simulation.utils.machine_learning package
  • simulation.utils.ros_base package
  • simulation.utils.road package
  • simulation.utils.urdf package

Docker Images

  • Docker Images

Mini - Talks

  • Names and Values in Python
  • Inheritance in Python
  • Continuous Integration using the Simulation
  • Just Use Tmux
  • Onboarding
KITcar Simulation
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  • simulation.src.simulation_brain_link.src.sensor_tof package
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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:

SensorTofNode()

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.

start()[source]¶

Start node.

stop()[source]¶

Turn off node.

pointcloud_cb(pc: sensor_msgs.msg._PointCloud2.PointCloud2)[source]¶

Process new sensor information of depth camera.

Module contents¶

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