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gz-sensors9 package from gz-sensors repo

gz-sensors9

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Package Summary

Tags No category tags.
Version 9.1.0
License Apache License 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Description Provides numerous sensor models designed to generate realistic data from simulation environments.
Checkout URI https://github.com/gazebosim/gz-sensors.git
VCS Type git
VCS Version gz-sensors9
Last Updated 2025-04-10
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robotics simulation gazebo sensors hacktoberfest robotics-simulation ignition-rendering ignition-robotics gazebosim ignition-sensors sensors-models
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Gazebo Sensors : Sensor models for simulation

Additional Links

Maintainers

  • Ian Chen

Authors

No additional authors.
README.md

Gazebo Sensors : Sensor models for simulation

Maintainer: ichen AT openrobotics DOT org

GitHub open issues GitHub open pull requests Discourse topics Hex.pm

Build Status
Test coverage codecov
Ubuntu Noble Build Status
Homebrew Build Status
Windows Build Status

Gazebo Sensors, a component of Gazebo, provides numerous sensor models designed to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with Gazebo Libraries, and especially relies on the rendering capabilities from Gazebo Rendering and physics simulation from Gazebo Physics.

Table of Contents

Features

Install

Usage

Folder Structure

Code of Conduct

Contributing

Versioning

License

Features

Gazebo Sensors provides a set of sensors models that can be configured at run time to mimic specific real-world sensors. A noise model is also provided that can be used to introduce Gaussian or custom noise models into sensor streams.

Supported Sensors

Sensor Name API Link SDF Element Notes
Air Pressure Sensor AirPressureSensor <air_pressure> Measures atmospheric pressure
Air Speed Sensor AirSpeedSensor N/A Measures the speed of air relative to the sensor
Altimeter AltimeterSensor <altimeter> Measures altitude above a reference point
Bounding Box Camera BoundingBoxCameraSensor <camera> Captures images with bounding box annotations
Camera CameraSensor <camera> Captures standard RGB images
Depth Camera DepthCameraSensor <depth_camera> Captures depth information
Doppler Velocity Log DopplerVelocityLog N/A Measures relative velocity of an underwater vehicle
Force-Torque ForceTorqueSensor <force_torque> Measures forces and torques on a joint
GPU Lidar GpuLidarSensor <lidar> Simulates a 3D laser scanner using GPU acceleration
IMU ImuSensor <imu> Measures linear acceleration and angular velocity
Logical Camera LogicalCameraSensor <logical_camera> Detects models within a specified volume
Magnetometer MagnetometerSensor <magnetometer> Measures magnetic field strength and direction
NavSat (GPS) NavSatSensor <navsat> Simulates GPS-like positioning sensor
RGBD Camera RGBDCameraSensor <camera> Captures RGB + Depth streams
Segmentation Camera SegmentationCameraSensor <camera> Captures labeled segmentation images
Thermal Camera ThermalCameraSensor <camera> Detects heat signature
Wide Angle Camera WideAngleCameraSensor <camera> Captures wide field of view

Install

See the installation tutorial.

Usage

Please refer to the examples directory.

A list of sensors and SDF examples can be found in the SDF specification

Folder Structure

Refer to the following table for information about important directories and files in this repository.

├── examples                  Example programs.
├── include/gz/sensors        Header files that will be installed.
├── src                       Source files and unit tests.
├── test
│    ├── integration          Integration tests.
│    ├── performance          Performance tests.
│    └── regression           Regression tests.
├── tutorials                 Tutorials, written in markdown.
├── Changelog.md              Changelog.
├── CMakeLists.txt            CMake build script.
└── README.md                 This readme.

Contributing

Please see the contribution guide.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.

CHANGELOG

Gazebo Sensors 9

Gazebo Sensors 9.1.0 (2025-02-12)

  1. Enable packing w/o padding for pointclouds
  2. Add support for L8 and L16 image formats in WideAngleCameraSensor
  3. Check camera resolution

Gazebo Sensors 9.0.0 (2024-09-25)

  1. Baseline: this includes all changes from 8.2.0 and earlier.

  2. Miscellaneous documentation fixes
  3. Add boundingbox_camera tutorial to the tutorials list
  4. Update badges to point to gz-sensors9
  5. Update changelog
  6. Fix SphericalCoordinate deprecation warning in DVL sensor
  7. Fix frame_id in rgbd_camera
  8. Enable Ubuntu Noble github actions, require cmake 3.22.1
  9. Fixed unused variable warning in DVL
  10. ForceTorqueSensor: add API for newest measurement
  11. Skip apply noise / distortion if parameters are 0s
  12. Publish lidar scan only if there are lidar scan connections
  13. Use //sensor/frame_id sdf element
  14. Fix boundingbox_camera integration test
  15. Suppress unused variable warning
  16. Remove HIDE_SYMBOLS_BY_DEFAULT: replace by a default configuration in gz-cmake.
  17. Avoid calling DblNormal with invalid standard deviation
  18. Fix unresolved external symbols on Windows
  19. Bumps in Ionic: gz-sensors9
  20. Set lens intrinsics in Depth and Rgbd camera sensors

Gazebo Sensors 8

Gazebo Sensors 8.2.0 (2024-06-14)

  1. Add API to check if sensor is in trigger mode
  2. Set rendering sensor pose

Gazebo Sensors 8.1.0 (2024-05-16)

  1. Set camera projection matrix based on lens params for other types of cameras
  2. Move trigger logic to base Sensor class and enable trigger for all camera sensors
  3. Add package.xml

Gazebo Sensors 8.0.1 (2024-03-15)

  1. Avoid calling DblNormal with invalid standard deviation
  2. DepthCamera and RGBDCamera - optimize RGB point cloud connection
  3. Update CI badges to point to release branch job
  4. Infrastructure
  5. Clean up rendering resources
  6. Destroy rendering sensors when sensor is removed
  7. Support protobuf >= 22

Gazebo Sensors 8.0.0 (2023-09-29)

  1. Documentation fixes
  2. populate the covariance fields using the noise models
  3. Tests need to include message types they are using
  4. Update air sensor with air_speed.proto
  5. Bumps in harmonic : sdformat14, rendering8, transport13
  6. ign -> gz
  7. Remove deprecations
  8. Infrastructure
  9. Support protobuf >= 22
  10. Minor cleanup - lint, typos
  11. Fix frame_id for depth camera point cloud
  12. Fix dvl integration test
  13. Add support for bayer images to camera sensor
  14. Fix flaky trigger camera test
  15. Generate default trigger topic name if empty
  16. Add DopplerVelocityLog sensor
  17. ⬆️ Bump main to 8.0.0~pre1

Gazebo Sensors 7

Gazebo Sensors 7.3.0 (2023-09-26)

  1. Infrastructure
  2. Expose optical frame in CameraSensor so it can be set in DepthCameraSensor
  3. Fix CameraSensor to check if element is null before access
  4. Support protobuf >= 22
  5. Minor cleanup - lint, typos
  6. Fix frame_id for depth camera point cloud
  7. Add support for bayer images to camera sensor
  8. Fix flaky trigger camera test
  9. Generate default trigger topic name if empty

Gazebo Sensors 7.2.0 (2023-04-13)

  1. Cleanup resources in CameraSensor destructor
  2. CI workflow: use checkout v3
  3. Rename COPYING to LICENSE
  4. Fix links in Changelog
  5. Fix flaky triggered bounding box camera test
  6. Fix Camera info test
  7. Added trigger to BoundingBoxCamera
  8. clean up rendering resources
  9. Added Camera Info topic support for cameras
  10. ign -> gz Migrate Ignition Headers : gz-sensors

Gazebo Sensors 7.1.0 (2023-02-09)

  1. Added airspeed sensor
  2. Add HasInfoConnections() method to expose infoPub.HasConnections() to child of CameraSensor class
  3. CameraInfo is now published when there’s a CameraSensor subscriber
  4. Disable ogre tests on windows
  5. Add and Revert DopplerVelocityLog sensor
  6. Set custom projection matrix based on intrinsics params from SDF
  7. Renamed ignition_frame_id to gz_frame_id and fix warning
  8. Fix navsat frame id
  9. Fix compile time warning
  10. Update Camera Intrinsics in camera_info topic
  11. RgbdCameraSensor.cc: fix include
  12. Camera: configure projection matrix from SDFormat
  13. Improved noise coverage
  14. Improved coverage Lidar
  15. Add support for 16 bit image format
  16. Add optional optical frame id to camera sensors
  17. Add missing DEPENDS_ON_COMPONENTS parameters
  18. Remove redundant namespace references

Gazebo Sensors 7.0.0 (2022-09-27)

  1. Clear scene before exiting wide_angle_camera_test
  2. Fixed INTEGRATION triggered_camera test
  3. Update README.md
  4. Tutorial and documentation updates
  5. Fix msgs.hh uses
  6. Fix forward-port: use gz_add_component
  7. Add missing msgs include statements
  8. ign -> gz
  9. Make sensors’ HasConnections function virtual
  10. Disable thermal camera test on MacOS
  11. Update GoogleTest to latest version
  12. [garden] Use anti-aliasing value from SDF element
  13. Use pose multiplication instead of subtraction
  14. Add support for single channel 16 bit grayscale image format
  15. Remove deprecated common/PluginMacros.hh include
  16. Bumps in garden : ign-sensors7
  17. Remove Bionic from future releases (Garden+)
  18. Add API to set next sensor update time
  19. Change to use SuppressWarning from ign-utils
  20. Let derived sensors call Sensor::Update
  21. Add wide angle camera sensor

Gazebo Sensors 6

Gazebo Sensors 6.8.0 (2024-01-12)

  1. Allow specifying gz_frame_id as an alternative to ignition_frame_id
  2. [backport fortress] camera info topic published with the right data
  3. Infrastructure

Gazebo Sensors 6.7.1 (2023-09-01)

  1. Support protobuf >= 22
  2. Infrastructure
  3. Rename COPYING to LICENSE
  4. Fix links in Changelog
  5. Fix Camera info test
  6. clean up rendering resources
  7. Added Camera Info topic support for cameras

Gazebo Sensors 6.7.0 (2023-02-13)

  1. Disable thermal camera test on MacOS.
  2. Add optional optical frame id to camera sensors.
  3. Add support for 16 bit image format.
  4. Fix navsat frame id.
  5. CameraInfo is now published when there’s a CameraSensor subscriber.
  6. Add HasInfoConnections() method to expose infoPub.HasConnections() to child of CameraSensor class.
  7. Forward port 3.5.0.

Gazebo Sensors 6.6.0 (2022-06-17)

  1. Add BoundingBox Sensor

Gazebo Sensors 6.5.0 (2022-05-24)

  1. Add HasConnections function

Gazebo Sensors 6.4.0 (2022-05-13)

  1. Set lidar visibility mask
  2. Fix triggered camera test
  3. Add support for l8 format
  4. Fix <ignition_frame_id> not working for GpuLidarSensor

Gazebo Sensors 6.3.0 (2022-04-04)

  1. IMU custom_rpy parent_frame should be set to ‘world’
  2. Triggered Camera
  3. Check if noise or distortion render pass is null

Gazebo Sensors 6.2.0 (2022-03-29)

  1. Distortion Camera Sensor
  2. Add Ubuntu Jammy CI
  3. Add function for enabling / disabling a sensor
  4. IMU sensor API to get world ref frame and heading offset
  5. Use pose multiplication instead of addition
  6. Enable cpplint check in github actions CI
  7. Conform to ros format for header field frame_id of sensor msgs
  8. Fix compiler warnings (CMP0072 and copy elision)

Gazebo Sensors 6.1.0 (2022-01-04)

  1. Add NavSat (GPS) sensor
  2. Added Logic to flag pointcloud as not dense if invalid point is detected
  3. IMU custom_rpy tag parsing added

Gazebo Sensors 6.0.1 (2021-11-12)

  1. Disable GPU lidar tests on macOS
  2. Added macOS install instructions.
  3. Destroy rendering sensors when sensor is removed.

Gazebo Sensors 6.0.0 (2021-09-30)

  1. Trivial tutorial typo correction in Custom Sensors tutorial
  2. Bumps in fortress: ign-sensors6
  3. Port codecov to new configuration
  4. Remove deprecations: tock
  5. Make Sensors aware of CameraPassCountPerGpuFlush & Scene::PostFrame
  6. Remove plugin interface and support custom sensors
  7. Run ogre 1.x tests on macos
  8. Segmentation sensor
  9. Joint Force-Torque Sensor

Gazebo Sensors 5

Gazebo Sensors 5.X.X

Gazebo Sensors 5.1.0 (2021-10-15)

  1. Depend on ign-msgs 7.2 and libSDFormat 11.3
  2. 👩‍🌾 Print debug messages when sensors advertise topics
  3. Infrastructure
  4. Publish performance sensor metrics.
  5. Add API for enabling / disabling IMU orientation
  6. Init will now set the nextUpdateTime to zero
  7. Remove clamping from lidar noise
  8. 👩‍🌾 Disable tests that consistently fail on macOS

Gazebo Sensors 5.0.0 (2021-03-30)

  1. Bump in edifice: ign-common4
  2. Bump in edifice: sdformat11
  3. Bump in edifice: ign-msgs7
  4. Bump in edifice: ign-rendering5
  5. Documentation updates

Gazebo Sensors 4

Gazebo Sensors 4.X.X

Gazebo Sensors 4.2.0 (2021-07-12)

  1. Add API for enabling / disabling IMU orientation
  2. Init will now set the nextUpdateTime to zero
  3. Remove clamping from lidar noise
  4. Remove tools/code_check and update codecov
  5. Disable macOS workflow
  6. 👩‍🌾 Disable tests that consistently fail on macOS
  7. Master branch updates
  8. 👩‍🌾 Clear Windows warnings (backport #58)
  9. Update thermal camera tutorial - include varying temp. objects
  10. Fix macOS/windows tests that failed to load library
  11. Removed issue & PR templates

Gazebo Sensors 4.1.0 (2021-02-10)

  1. Added issue and PR templates.
  2. Added set_rate service to all sensors.
  3. Added support for 8 bit thermal camera image format.
  4. All features up to version 3.2.0.

Gazebo Sensors 4.0.0 (2020-09-30)

  1. Fix link in README.md
  2. Move installation instructions from README.md to Installation tutorial
  3. Bump ign-math to 6.6
  4. Replaced common::Time with std::chrono
  5. Depend on ign-msgs6, ign-transport9, sdf10
  6. GitHub migration
  7. Set camera sensor visibility mask
  8. Depend on ign-rendering4

Gazebo Sensors 3

Gazebo Sensors 3.6.0 (2024-01-05)

  1. Update github action workflows
  2. Clean up rendering resources
  3. Destroy rendering sensors when sensor is removed
  4. Support protobuf >= 22
  5. Fix links in Changelog
  6. Fix Camera info test
  7. Added Camera Info topic support for cameras

Gazebo Sensors 3.5.0 (2022-11-30)

  1. Add missing DEPENDS_ON_COMPONENTS parameters.
  2. Improved coverage Lidar.
  3. Improved noise coverage.
  4. Camera: configure projection matrix from SDFormat.
  5. RgbdCameraSensor.cc: fix include.
  6. Ignition to Gazebo header migration.

Gazebo Sensors 3.4.0 (2022-08-16)

  1. Remove redundant namespace references
  2. Ignition -> Gazebo
  3. Conform to ros format for header field frame_id of sensor msgs
  4. Fix compiler warnings (CMP0072 and copy elision)
  5. Require ign-transport >= 8.2

Gazebo Sensors 3.3.0 (2021-08-26)

  1. 👩‍🌾 Print debug messages when sensors advertise topics
  2. Publish performance sensor metrics.
  3. CI and infrastructure
  4. 👩‍🌾 Disable tests that consistently fail on macOS
  5. 👩‍🌾 Clear Windows warnings (backport #58)
  6. Fix macOS/windows tests that failed to load library (backport #60)

Gazebo Sensors 3.2.0 (2021-02-08)

  1. Apply noise to lidar point cloud.
  2. Add Windows Installation.
  3. Added thermal camera tutorial.
  4. Prevent segfaults on test failures, make tests verbose.
  5. Resolve updated codecheck issues.
  6. Improve fork experience.

Gazebo Sensors 3.1.0 (2020-09-03)

  1. Update camera sensor only when needed
  2. Add noise to RGBD camera.
  3. Fix version numbers in config.hh
  4. Make sure all sensors have a default topic. When invalid topics are passed in, convert them to valid topics if possible. If not possible to convert into valid topic, fail gracefully.
  5. GitHub migration

Gazebo Sensors 3.0.0 (2019-12-10)

  1. Add support for sdformat frame semantics
  2. Remove deprecations in ign-sensors3
  3. Break out image noise classes
  4. Depend on ign-transport8, ign-msgs5, sdformat9
  5. Add Thermal Camera Sensor
  6. Updating exports and includes
  7. Removed deprecations from Manager.
  8. Depend on ign-rendering3

Gazebo Sensors 2

Gazebo Sensors 2.9.1 (2020-12-23)

  1. Fix version numbers in config.hh
  2. Resolve codecheck issues

Gazebo Sensors 2.9.0 (2020-08-07)

  1. Add noise to RGBD camera.
  2. Make sure all sensors have a default topic.When invalid topics are passed in, convert them to valid topics if possible. If not possible to convert into valid topic, fail gracefully.

Gazebo Sensors 2.8.0 (2020-03-04)

  1. Added sequence numbers to sensor data messages.

Gazebo Sensors 2.7.0 (2019-12-16)

  1. Add clipping for depth camera on rgbd camera sensor (requires sdformat 8.7.0)

Gazebo Sensors 2.6.1 (2019-09-13)

  1. Fix IMU noise model dt

Gazebo Sensors 2.6.0 (2019-08-27)

  1. Update depth and rgbd camera sensor to output point cloud data generated by ign-rendering DepthCamera

Gazebo Sensors 2.5.1 (2019-08-12)

  1. Add intensity and ring fields to GpuLidarSensor point cloud msg

Gazebo Sensors 2.5.0

  1. Add IGN_PROFILER_ENABLE cmake option for enabling the ign-common profiler.
  2. Deduplicate frame_ids from sensor message headers
  3. Baseline for stereo cameras

Gazebo Sensors 2.4.0 (2019-07-17)

  1. Support manual scene updates for rendering sensors

Gazebo Sensors 2.3.0 (2019-07-16)

  1. The GpuLidar and Rgbd sensors publish point cloud data using msgs::PointCloudPacked.

Gazebo Sensors 2.2.0 (2019-06-27)

  1. Update the GPU Lidar to use the sensor’s name as the frame_id.
  2. Fix camera_info topic to be on the same level as image and depth_image for RGBD Camera.

Gazebo Sensors 2.1.0 (2019-06-18)

  1. Adds an RGBD camera sensor that combines a CameraSensor and DepthCameraSensor, and also outputs a pointcloud.
  2. Create and publish on camera_info topics for the Camera and DepthCamera sensors.

Gazebo Sensors 2.0.0 (2019-05-21)

  1. Zero update rate, virtual SetParent and fix gpu_lidar
  2. Add frame_id to sensor messages
  3. Restore pixel_format in message and add deprecation comment.
  4. Added noise to camera and lidar sensors.
  5. Add support for loading a Lidar sensor from an SDF Sensor DOM object.
  6. Add support for loading an IMU sensor from an SDF Sensor DOM object.
  7. Add support for loading a camera and depth camera sensor from an SDF Sensor DOM object.
  8. Add support for loading an air pressure sensor from an SDF Sensor DOM object.
  9. Add support for loading an altimeter sensor from an SDF Sensor DOM object.
  10. Noise factory uses sdf::Noise objects, Magnetometer sensor utilizes noise parameters.
  11. Add support for loading a magnetometer sensor from an SDF Sensor DOM object.
  12. Add magnetometer
  13. Add IMU
  14. Add altimeter
  15. Create component for rendering sensor classes
  16. Upgrade to gz-rendering2
  17. Upgrade to gz-msgs4 and gz-transport7

Gazebo Sensors 1.X.X (2019-XX-XX)

  1. Fix windows linking

Gazebo Sensors 1.0.0 (2019-03-01)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
gz-cmake4
gz-common6
gz-math8
gz-msgs11
gz-rendering9
gz-transport14
sdformat15

System Dependencies

Name
cmake
xvfb
gz-tools2

Dependant Packages

Name Deps
gz-sim9

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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