Robotnik sensors

This package contains the description of the sensors used in Robotnik robots.

The types of sensors available are:

• 2D LiDAR
• 3D LiDAR
• Camera
• Depth Camera
• GPS
• IMU

You can find the list of available sensors at the Sensors section.

Installation

Download this repository and use the default devel branch: jazzy-devel

git clone https://github.com/RobotnikAutomation/robotnik_sensors.git -b jazzy-devel

Usage

The entrypoint of the package is the file robotnik_sensors/urdf/all_sensors.urdf.xacro. This file includes all the sensor description of the sensors.

The sensors macros have the following arguments:

Arguments	Description
frame_prefix	prefix added to the frame
parent	parent link of the sensor
origin	origin block for the position and orientation of the sensor

For simulation, the following arguments are also available:

Arguments	Description
node_namespace	namespace of the plugin
node_name	name used for the plugin node in Gazebo
gazebo_ignition	boolean to additional information for Gazebo Ignition simulation
topic_prefix	prefix added to the topic name
gpu	boolean to use the GPU for the sensor (only available for 2d and 3d lidar)

Example

This example shows how to include a SICK S300 2D LiDAR in a robot description:

  <xacro:include
    filename="$(find robotnik_sensors)/urdf/all_sensors.urdf.xacro" />
  
  <xacro:sensor_sick_s300
    frame_prefix="$(arg prefix)front_laser_"
    parent="$(arg prefix)chassis_link"
    node_namespace="$(arg namespace)"
    node_name="front_laser"
    gazebo_ignition="$(arg gazebo_ignition)">
    <origin xyz="${front_laser_offset_x} ${front_laser_offset_y} ${front_laser_offset_z}" rpy="0 ${-PI} ${-3/4*PI}" />
  </xacro:sensor_sick_s300>

Contributing

All files must be formatted using Prettier with the configuration found in .github/.prettierrc.json.

Install npm, prettier and prettier/plugin-xml:

sudo apt install npm
sudo npm install -g prettier @prettier/plugin-xml

To format the files, run:

prettier --plugin=$(npm root -g)/@prettier/plugin-xml/src/plugin.js --config .github/.prettierrc.json --write "robotnik_sensors/urdf/**/*.{xml,xacro,urdf}"

Sensors

The available sensors in the package are:

2D LiDAR

• hokuyo_urg04lx
• hokuyo_ust10lx
• hokuyo_ust20lx
• hokuyo_utm30lx
• sick_microscan3
• sick_nanoscan3
• sick_outdoorscan3
• sick_s300
• sick_s3000
• sick_tim551
• sick_tim571

3D LiDAR

• livox_mid_360
• ouster
• robosense_bpearl
• robosense_helio_16p
• velodyne_vlp16

Camera

• axis_m5013
• axis_m5074
• axis_m5525
• axis_m5526

Depth Camera

• azure_kinect
• intel_realsense_d435
• intel_realsense_d435i
• orbbec_astre
• stereolabs_zed2
• stereolabs_zed2i

GPS

• gps
• gps_with_mast
• ublox

IMU

• myahrs
• pixhawk
• vectornav