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

Bases: 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()

Start node.

stop()

Turn off node.

pointcloud_cb(pc: PointCloud2)

Process new sensor information of depth camera.

Module contents