Sensors¶

The Stonefish library implements a wide range of sensor simulations. Each of the sensors produces a specific output, that can be retrieved. The stonefish_ros2 package implements automatic allocation of publishers and generation of appropriate messages, published when the new sensor data is available. The only definition that the user has to add to the standard definiton of a sensor, to use this functionality, is the name of the topic used by the publisher:

<sensor name="..." type="...">
    <!-- standard sensor definitions -->
    <ros_publisher topic="/topic_name"/>
</sensor>

The appropriate message or group of messages is published for each of the sensors. For some of them there is a secondary optional topic that can be specified after the standard topic, using an attribute name given below.

Moreover, an additional functionality is available - an automatically generated service to enable and disable the sensor, for example, to get better performance when all sensors are not needed at the same time. A topic used by the service has to be given as follows:

<sensor name="..." type="...">
    <!-- standard sensor definitions -->
    <!-- ros_publisher definition -->
    <ros_service set_enabled="/service_name"/>
</sensor>

The above service is of type std_srvs::srv::SetBool.

Joint sensors¶

Rotary encoder¶

Message type: sensor_msgs::msg::JointState

Force-torque (6-axis)¶

Message type: geometry_msgs::msg::WrenchStamped

Link sensors¶

Accelerometer¶

Message type: geometry_msgs::msg::AccelWithCovarianceStamped

Gyroscope¶

Message type: geometry_msgs::msg::TwistWithCovarianceStamped

IMU¶

Message type: sensor_msgs::msg::Imu

Odometry¶

Message type: nav_msgs::msg::Odometry

GPS¶

Message type: sensor_msgs::msg::NavSatFix

Doppler velocity log (DVL)¶

Message type: stonefish_ros2::msg::DVL

Second message type (altitude_topic): sensor_msgs::msg::Range

Pressure¶

Message type: sensor_msgs::msg::FluidPressure

INS¶

Message type: stonefish_ros2::msg::INS

Second message type (odometry_topic): nav_msgs::msg::Odometry

Multi-beam¶

Message type: sensor_msgs::msg::LaserScan

Second message type (pcl_topic): sensor_msgs::msg::PointCloud2