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_ros 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>

For each sensor type a different message type is published. Some of the sensors need to publish on multiple topics. Specific information on all supported sensors is presented below.

Rotary encoder

Message type: sensor_msgs::JointState

Force-torque (6-axis)

Message type: geometry_msgs::WrenchStamped

Odometry

Message type: nav_msgs::Odometry

IMU

Message type: sensor_msgs::Imu

GPS

Message type: sensor_msgs::NavSatFix

Doppler velocity log (DVL)

Message type: geometry_msgs::TwistWithCovarianceStamped

Second message type: sensor_msgs::Range

Pressure

Message type: sensor_msgs::FluidPressure