64 lines
2.6 KiB
Plaintext
64 lines
2.6 KiB
Plaintext
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<!-- Sensor -->
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<element name="sensor" required="0">
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<description>The sensor tag describes the type and properties of a sensor.</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>A unique name for the sensor. This name must not match another model in the model.</description>
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</attribute>
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<attribute name="type" type="string" default="__default__" required="1">
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<description>The type name of the sensor. By default, SDF supports types
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altimeter,
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camera,
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contact,
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depth,
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force_torque,
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gps,
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gpu_ray,
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imu,
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logical_camera,
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magnetometer,
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multicamera,
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ray,
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rfid,
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rfidtag,
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sonar,
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wireless_receiver, and
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wireless_transmitter.</description>
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</attribute>
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<element name="always_on" type="bool" default="false" required="0">
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<description>If true the sensor will always be updated according to the update rate.</description>
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</element>
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<element name="update_rate" type="double" default="0" required="0">
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<description>The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.</description>
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</element>
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<element name="visualize" type="bool" default="false" required="0">
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<description>If true, the sensor is visualized in the GUI</description>
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</element>
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<element name="topic" type="string" default="__default__" required="0">
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<description>Name of the topic on which data is published. This is necessary for visualization</description>
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</element>
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<include filename="frame.sdf" required="*"/>
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<include filename="pose.sdf" required="0"/>
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<include filename="plugin.sdf" required="*"/>
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<include filename="altimeter.sdf" required="0"/>
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<include filename="camera.sdf" required="0"/>
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<include filename="contact.sdf" required="0"/>
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<include filename="gps.sdf" required="0"/>
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<include filename="imu.sdf" required="0"/>
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<include filename="logical_camera.sdf" required="0"/>
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<include filename="magnetometer.sdf" required="0"/>
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<include filename="ray.sdf" required="0"/>
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<include filename="rfid.sdf" required="0"/>
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<include filename="rfidtag.sdf" required="0"/>
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<include filename="sonar.sdf" required="0"/>
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<include filename="transceiver.sdf" required="0"/>
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<include filename="forcetorque.sdf" required="0"/>
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</element> <!-- End Sensor -->
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