Sensor

It is used to define a sensor in a link.

Mandatory children

• Origin: Transformation frame respect to the component's frame of reference.

  • Var: smtk_transform
  • Type: Constant
  • Default: 0 0 0 0 0 0 1
  • Values info: x y z qx qy qz qw

• Enable: Switch to set if the sensor is on or off.

  • Var: smtk_bool
  • Type: Input
  • Default: true

• Update Rate: The frequency at which the sensor data is generated automatically. If set to 0 the sensor will not automatically update the data.

  • Var: smtk_float
  • Type: Constant
  • Default: 0.1

• Trigger: Manual trigger of the sensor to generate data when a rising edge is detected. Use update_rate for automatic triggering.

  • Var: smtk_bool
  • Type: Input
  • Default: false

Choice child

• Ray: Sensor type that makes use of raycasting.

• Camera: Sensor type that can generate an image or byte-string rendering the elements in the workspace.

• Altimeter: Sensor type that outputs the vertical position and velocity.

• Pose: Sensor type that can outputs transformation frame with respect to the world origin: x y z qx qy qz qw.