41 lines
1.8 KiB
Plaintext
41 lines
1.8 KiB
Plaintext
<!-- 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, gazebo supports types camera, depth, stereocamera, contact, imu, ir and ray.</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="pose" type="pose" default="0 0 0 0 0 0" required="0">
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<description>This is the pose of the sensor, relative to the parent link reference frame.</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="plugin.sdf" required="*"/>
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<include filename="camera.sdf" required="0"/>
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<include filename="ray.sdf" required="0"/>
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<include filename="contact.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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</element> <!-- End Sensor -->
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