Robotnik sensors

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

Installation

Download this repository and use the branch ros2-devel

git clone https://github.com/RobotnikAutomation/robotnik_sensors.git -b ros2-devel

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

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

GPS

• gps
• gps_with_mast
• ublox

IMU

• myahrs
• pixhawk
• vectornav

Usage

This repository contains a package robotnik_sensors which includes the URDF description of the sensors.

The entrypoint of the package is the file robotnik_sensors/urdf/sensors.urdf.xacro. This file includes all the sensors macros and the 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_classic	boolean to include the plugin for Gazebo classic
gazebo_ignition	boolean to include the plugin for Gazebo Ignition
topic_prefix	prefix added to the topic name
gpu	boolean to use the GPU for the sensor (only available for 2d and 3d lidar)

You can find an example of the usage in the default.urdf.xacro file in robotnik_sensors_gazebo.

  <xacro:include filename="$(find robotnik_sensors)/urdf/all_sensors.urdf.xacro" />
  <xacro:call
      macro="sensor_$(arg sensor_type)"
      frame_prefix="$(arg sensor_name)_"
      parent="world"
      node_namespace="$(arg sensor_ns)"
      node_name="$(arg sensor_name)"
      gazebo_classic="false"
      gazebo_ignition="true"
      topic_prefix="~/">
    <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
  </xacro:call>

The macro names are sensor_ + the name of the sensor described above. For example:

• sensor_intel_realsence_d435
• sensor_vectornav