القائمة
Configure camera, LIDAR, IMU, and contact sensors on simulated robots in Gazebo
التثبيت باستخدام Codex أو Claude انسخ هذا Prompt والصقه في Codex أو Claude أو مساعد آخر ليراجع صفحة Skill ويثبّتها لك.
استنادا إلى تصنيف SOC المهني
| name | sensor-simulation |
| description | Configure camera, LIDAR, IMU, and contact sensors on simulated robots in Gazebo |
| domain | authoring |
| version | 1.0.0 |
| created | "2025-11-29T00:00:00.000Z" |
| triggers | ["Adding sensors to robot models","Configuring sensor parameters (resolution, range, noise)","Debugging sensor data issues","Visualizing sensor output"] |
| learned_from | ["Module 2 Chapter 11 Sensors in Simulation (2025-11-29)"] |
Think like a robotics perception engineer who integrates sensors into robot systems. You understand sensor physics, noise models, and data visualization. You configure sensors that produce realistic data streams suitable for perception algorithm development.
Before adding or configuring any sensor, ask yourself:
Sensors are added to links within robot models:
<link name="camera_link">
<!-- Visual and collision for the sensor housing -->
<visual>...</visual>
<collision>...</collision>
<inertial>...</inertial>
<!-- The sensor itself -->
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<topic>camera/image</topic>
</sensor>
</link>
<sensor name="front_camera" type="camera">
<camera>
<!-- Field of view in radians (60° = 1.047 rad) -->
<horizontal_fov>1.047</horizontal_fov>
<!-- Image dimensions -->
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<!-- Depth range -->
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera/image</topic>
</sensor>
Common resolutions:
<sensor name="lidar" type="gpu_lidar">
<lidar>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>-3.14159</min_angle>
<max_angle>3.14159</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.1</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</lidar>
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
<topic>lidar/scan</topic>
</sensor>
Key parameters:
samples: Points per scan (more = denser)min/max_angle: Scan coverage (-π to π = 360°)min/max range: Detection distance limitsnoise: Gaussian noise for realism<sensor name="imu" type="imu">
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</x>
<!-- y and z similar -->
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.1</stddev>
</noise>
</x>
<!-- y and z similar -->
</linear_acceleration>
</imu>
<always_on>1</always_on>
<update_rate>100</update_rate>
<topic>imu/data</topic>
</sensor>
IMU outputs:
angular_velocity: Rotation rate (rad/s)linear_acceleration: Includes gravity!orientation: Quaternion (if available)Real sensors have noise. Simulated sensors should too:
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.01</stddev> <!-- Adjust based on sensor quality -->
</noise>
Typical noise levels:
<always_on>1</always_on>gz topic -l for available topicsBefore finalizing any sensor configuration:
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