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|
gz-sensors9 package from gz-sensors repogz-sensors9 |
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 | 2025-04-04 |
| 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.
Gazebo Sensors : Sensor models for simulation
Maintainer: ichen AT openrobotics DOT org
| Build | Status |
|---|---|
| Test coverage |  |
| Ubuntu Noble | |
| Homebrew | |
| Windows |
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
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)
- Enable packing w/o padding for pointclouds
- Add support for L8 and L16 image formats in WideAngleCameraSensor
- Check camera resolution
Gazebo Sensors 9.0.0 (2024-09-25)
-
Baseline: this includes all changes from 8.2.0 and earlier.
- Miscellaneous documentation fixes
- Add boundingbox_camera tutorial to the tutorials list
- Update badges to point to gz-sensors9
- Update changelog
- Fix SphericalCoordinate deprecation warning in DVL sensor
- Fix frame_id in rgbd_camera
- Enable Ubuntu Noble github actions, require cmake 3.22.1
- Fixed unused variable warning in DVL
- ForceTorqueSensor: add API for newest measurement
- Skip apply noise / distortion if parameters are 0s
- Publish lidar scan only if there are lidar scan connections
- Use //sensor/frame_id sdf element
- Fix boundingbox_camera integration test
- Suppress unused variable warning
- Remove HIDE_SYMBOLS_BY_DEFAULT: replace by a default configuration in gz-cmake.
- Avoid calling DblNormal with invalid standard deviation
- Fix unresolved external symbols on Windows
- Bumps in Ionic: gz-sensors9
- Set lens intrinsics in Depth and Rgbd camera sensors
Gazebo Sensors 8
Gazebo Sensors 8.2.0 (2024-06-14)
- Add API to check if sensor is in trigger mode
- Set rendering sensor pose
Gazebo Sensors 8.1.0 (2024-05-16)
- Set camera projection matrix based on lens params for other types of cameras
- Move trigger logic to base Sensor class and enable trigger for all camera sensors
- Add package.xml
Gazebo Sensors 8.0.1 (2024-03-15)
- Avoid calling DblNormal with invalid standard deviation
- DepthCamera and RGBDCamera - optimize RGB point cloud connection
- Update CI badges to point to release branch job
- Infrastructure
- Clean up rendering resources
- Destroy rendering sensors when sensor is removed
- Support protobuf >= 22
Gazebo Sensors 8.0.0 (2023-09-29)
- Documentation fixes
- populate the covariance fields using the noise models
- Tests need to include message types they are using
- Update air sensor with air_speed.proto
- Bumps in harmonic : sdformat14, rendering8, transport13
- ign -> gz
- Remove deprecations
- Infrastructure
- Support protobuf >= 22
- Minor cleanup - lint, typos
- Fix frame_id for depth camera point cloud
- Fix dvl integration test
- Add support for bayer images to camera sensor
- Fix flaky trigger camera test
- Generate default trigger topic name if empty
- Add DopplerVelocityLog sensor
- ⬆️ Bump main to 8.0.0~pre1
Gazebo Sensors 7
Gazebo Sensors 7.3.0 (2023-09-26)
- Infrastructure
- Expose optical frame in CameraSensor so it can be set in DepthCameraSensor
- Fix CameraSensor to check if element is null before access
- Support protobuf >= 22
- Minor cleanup - lint, typos
- Fix frame_id for depth camera point cloud
- Add support for bayer images to camera sensor
- Fix flaky trigger camera test
- Generate default trigger topic name if empty
Gazebo Sensors 7.2.0 (2023-04-13)
- Cleanup resources in CameraSensor destructor
- CI workflow: use checkout v3
- Rename COPYING to LICENSE
- Fix links in Changelog
- Fix flaky triggered bounding box camera test
- Fix Camera info test
- Added trigger to BoundingBoxCamera
- clean up rendering resources
- Added Camera Info topic support for cameras
- ign -> gz Migrate Ignition Headers : gz-sensors
Gazebo Sensors 7.1.0 (2023-02-09)
- Added airspeed sensor
- Add HasInfoConnections() method to expose infoPub.HasConnections() to child of CameraSensor class
- CameraInfo is now published when there’s a CameraSensor subscriber
- Disable ogre tests on windows
- Add and Revert DopplerVelocityLog sensor
- Set custom projection matrix based on intrinsics params from SDF
- Renamed
ignition_frame_idtogz_frame_idand fix warning - Fix navsat frame id
- Fix compile time warning
- Update Camera Intrinsics in camera_info topic
- RgbdCameraSensor.cc: fix include
- Camera: configure projection matrix from SDFormat
- Improved noise coverage
- Improved coverage Lidar
- Add support for 16 bit image format
- Add optional optical frame id to camera sensors
- Add missing DEPENDS_ON_COMPONENTS parameters
- Remove redundant namespace references
Gazebo Sensors 7.0.0 (2022-09-27)
- Clear scene before exiting wide_angle_camera_test
- Fixed INTEGRATION triggered_camera test
- Update README.md
- Tutorial and documentation updates
- Fix msgs.hh uses
- Fix forward-port: use gz_add_component
- Add missing msgs include statements
- ign -> gz
- Make sensors’ HasConnections function virtual
- Disable thermal camera test on MacOS
- Update GoogleTest to latest version
- [garden] Use anti-aliasing value from
SDF element - Use pose multiplication instead of subtraction
- Add support for single channel 16 bit grayscale image format
- Remove deprecated common/PluginMacros.hh include
- Bumps in garden : ign-sensors7
- Remove Bionic from future releases (Garden+)
- Add API to set next sensor update time
- Change to use SuppressWarning from ign-utils
- Let derived sensors call Sensor::Update
- Add wide angle camera sensor
Gazebo Sensors 6
Gazebo Sensors 6.8.0 (2024-01-12)
- Allow specifying gz_frame_id as an alternative to ignition_frame_id
- [backport fortress] camera info topic published with the right data
- Infrastructure
Gazebo Sensors 6.7.1 (2023-09-01)
- Support protobuf >= 22
- Infrastructure
- Rename COPYING to LICENSE
- Fix links in Changelog
- Fix Camera info test
- clean up rendering resources
- Added Camera Info topic support for cameras
Gazebo Sensors 6.7.0 (2023-02-13)
- Disable thermal camera test on MacOS.
- Add optional optical frame id to camera sensors.
- Add support for 16 bit image format.
- Fix navsat frame id.
- CameraInfo is now published when there’s a CameraSensor subscriber.
- Add HasInfoConnections() method to expose infoPub.HasConnections() to child of CameraSensor class.
- Forward port 3.5.0.
Gazebo Sensors 6.6.0 (2022-06-17)
- Add BoundingBox Sensor
Gazebo Sensors 6.5.0 (2022-05-24)
- Add HasConnections function
Gazebo Sensors 6.4.0 (2022-05-13)
- Set lidar visibility mask
- Fix triggered camera test
- Add support for l8 format
- Fix
<ignition_frame_id>not working for GpuLidarSensor
Gazebo Sensors 6.3.0 (2022-04-04)
- IMU custom_rpy parent_frame should be set to ‘world’
- Triggered Camera
- Check if noise or distortion render pass is null
Gazebo Sensors 6.2.0 (2022-03-29)
- Distortion Camera Sensor
- Add Ubuntu Jammy CI
- Add function for enabling / disabling a sensor
- IMU sensor API to get world ref frame and heading offset
- Use pose multiplication instead of addition
- Enable cpplint check in github actions CI
- Conform to ros format for header field frame_id of sensor msgs
- Fix compiler warnings (CMP0072 and copy elision)
Gazebo Sensors 6.1.0 (2022-01-04)
- Add NavSat (GPS) sensor
- Added Logic to flag pointcloud as not dense if invalid point is detected
- IMU
custom_rpytag parsing added
Gazebo Sensors 6.0.1 (2021-11-12)
- Disable GPU lidar tests on macOS
- Added macOS install instructions.
- Destroy rendering sensors when sensor is removed.
Gazebo Sensors 6.0.0 (2021-09-30)
- Trivial tutorial typo correction in Custom Sensors tutorial
- Bumps in fortress: ign-sensors6
- Port codecov to new configuration
- Remove deprecations: tock
- Make Sensors aware of CameraPassCountPerGpuFlush & Scene::PostFrame
- Remove plugin interface and support custom sensors
- Run ogre 1.x tests on macos
- Segmentation sensor
- Joint Force-Torque Sensor
Gazebo Sensors 5
Gazebo Sensors 5.X.X
Gazebo Sensors 5.1.0 (2021-10-15)
- Depend on ign-msgs 7.2 and libSDFormat 11.3
- 👩🌾 Print debug messages when sensors advertise topics
- Infrastructure
- Publish performance sensor metrics.
- Add API for enabling / disabling IMU orientation
- Init will now set the nextUpdateTime to zero
- Remove clamping from lidar noise
- 👩🌾 Disable tests that consistently fail on macOS
Gazebo Sensors 5.0.0 (2021-03-30)
- Bump in edifice: ign-common4
- Bump in edifice: sdformat11
- Bump in edifice: ign-msgs7
- Bump in edifice: ign-rendering5
- Documentation updates
Gazebo Sensors 4
Gazebo Sensors 4.X.X
Gazebo Sensors 4.2.0 (2021-07-12)
- Add API for enabling / disabling IMU orientation
- Init will now set the nextUpdateTime to zero
- Remove clamping from lidar noise
- Remove tools/code_check and update codecov
- Disable macOS workflow
- 👩🌾 Disable tests that consistently fail on macOS
- Master branch updates
- 👩🌾 Clear Windows warnings (backport #58)
- Update thermal camera tutorial - include varying temp. objects
- Fix macOS/windows tests that failed to load library
- Removed issue & PR templates
Gazebo Sensors 4.1.0 (2021-02-10)
- Added issue and PR templates.
- Added
set_rateservice to all sensors. - Added support for 8 bit thermal camera image format.
- All features up to version 3.2.0.
Gazebo Sensors 4.0.0 (2020-09-30)
- Fix link in README.md
- Move installation instructions from README.md to Installation tutorial
- Bump ign-math to 6.6
- Replaced common::Time with std::chrono
- Depend on ign-msgs6, ign-transport9, sdf10
- GitHub migration
- Set camera sensor visibility mask
- Depend on ign-rendering4
Gazebo Sensors 3
Gazebo Sensors 3.6.0 (2024-01-05)
- Update github action workflows
- Clean up rendering resources
- Destroy rendering sensors when sensor is removed
- Support protobuf >= 22
- Fix links in Changelog
- Fix Camera info test
- Added Camera Info topic support for cameras
Gazebo Sensors 3.5.0 (2022-11-30)
- Add missing DEPENDS_ON_COMPONENTS parameters.
- Improved coverage Lidar.
- Improved noise coverage.
- Camera: configure projection matrix from SDFormat.
- RgbdCameraSensor.cc: fix include.
- Ignition to Gazebo header migration.
Gazebo Sensors 3.4.0 (2022-08-16)
- Remove redundant namespace references
- Ignition -> Gazebo
- Conform to ros format for header field
frame_idof sensor msgs - Fix compiler warnings (
CMP0072and copy elision) - Require ign-transport >= 8.2
Gazebo Sensors 3.3.0 (2021-08-26)
- 👩🌾 Print debug messages when sensors advertise topics
- Publish performance sensor metrics.
- CI and infrastructure
- 👩🌾 Disable tests that consistently fail on macOS
- 👩🌾 Clear Windows warnings (backport #58)
- Fix macOS/windows tests that failed to load library (backport #60)
Gazebo Sensors 3.2.0 (2021-02-08)
- Apply noise to lidar point cloud.
- Add Windows Installation.
- Added thermal camera tutorial.
- Prevent segfaults on test failures, make tests verbose.
- Resolve updated codecheck issues.
- Improve fork experience.
Gazebo Sensors 3.1.0 (2020-09-03)
- Update camera sensor only when needed
- Add noise to RGBD camera.
- Fix version numbers in config.hh
- 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.
- GitHub migration
Gazebo Sensors 3.0.0 (2019-12-10)
- Add support for sdformat frame semantics
- Remove deprecations in ign-sensors3
- Break out image noise classes
- Depend on ign-transport8, ign-msgs5, sdformat9
- Add Thermal Camera Sensor
- Updating exports and includes
- Removed deprecations from Manager.
- Depend on ign-rendering3
Gazebo Sensors 2
Gazebo Sensors 2.9.1 (2020-12-23)
- Fix version numbers in config.hh
- Resolve codecheck issues
Gazebo Sensors 2.9.0 (2020-08-07)
- Add noise to RGBD camera.
- 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)
- Added sequence numbers to sensor data messages.
Gazebo Sensors 2.7.0 (2019-12-16)
- Add clipping for depth camera on rgbd camera sensor (requires sdformat 8.7.0)
Gazebo Sensors 2.6.1 (2019-09-13)
- Fix IMU noise model dt
Gazebo Sensors 2.6.0 (2019-08-27)
- Update depth and rgbd camera sensor to output point cloud data generated by ign-rendering DepthCamera
Gazebo Sensors 2.5.1 (2019-08-12)
- Add intensity and ring fields to GpuLidarSensor point cloud msg
Gazebo Sensors 2.5.0
- Add
IGN_PROFILER_ENABLEcmake option for enabling the ign-common profiler. - Deduplicate
frame_idsfrom sensor message headers - Baseline for stereo cameras
Gazebo Sensors 2.4.0 (2019-07-17)
- Support manual scene updates for rendering sensors
Gazebo Sensors 2.3.0 (2019-07-16)
- The GpuLidar and Rgbd sensors publish point cloud data using
msgs::PointCloudPacked.
Gazebo Sensors 2.2.0 (2019-06-27)
- Update the GPU Lidar to use the sensor’s name as the
frame_id. - 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)
- Adds an RGBD camera sensor that combines a CameraSensor and DepthCameraSensor, and also outputs a pointcloud.
- Create and publish on
camera_infotopics for the Camera and DepthCamera sensors.
Gazebo Sensors 2.0.0 (2019-05-21)
- Zero update rate, virtual SetParent and fix gpu_lidar
- Add
frame_idto sensor messages - Restore
pixel_formatin message and add deprecation comment. - Added noise to camera and lidar sensors.
- Add support for loading a Lidar sensor from an SDF Sensor DOM object.
- Add support for loading an IMU sensor from an SDF Sensor DOM object.
- Add support for loading a camera and depth camera sensor from an SDF Sensor DOM object.
- Add support for loading an air pressure sensor from an SDF Sensor DOM object.
- Add support for loading an altimeter sensor from an SDF Sensor DOM object.
- Noise factory uses
sdf::Noiseobjects, Magnetometer sensor utilizes noise parameters. - Add support for loading a magnetometer sensor from an SDF Sensor DOM object.
- Add magnetometer
- Add IMU
- Add altimeter
- Create component for rendering sensor classes
- Upgrade to gz-rendering2
- Upgrade to gz-msgs4 and gz-transport7
Gazebo Sensors 1.X.X (2019-XX-XX)
- Fix windows linking
Gazebo Sensors 1.0.0 (2019-03-01)
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