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Sensor Concepts

Reference: OpenRAVE::SensorBase

A sensor measures physical properties from the environment and converts them to data. Each sensor is associated with a particular position in space, has a geometry with properties defining the type of sensor, and can be queried for sensor data. Available sensor types are specified by SensorType.

By default, all the sensors start with power off, meaning that the sensor does not gather data. The power can be turned on by using OpenRAVE::SensorBase::Configure and sending the SensorBase::CC_PowerOn command. All programs should manually turn sensor power on before using the sensors.

The sensor has two different rendering options:.

Check out the basesensors plugin for an example of how to implement a basic laser range and camera sensors.