Page tree
Skip to end of metadata
Go to start of metadata

Additional sensors

We provide you the configuration settings for additional sensors based on the required customization:

  1.  Inertial Measurement Unit (IMU)
  2.  Ultrasonic Sensors (US)

Based on your customization, there is a flexible option of adding the sensors to the URDF model.

The changes need to be made on the robot first and foremost, but also on any Client PC for visualization purposes.

It is recommended to fork the configuration repository and manage your changes this way.

Adding/Removing/Modifying the IMU in the robot model

In the configuration repository for your respective platform (eg. neo_mpo_700) you can find the URDF file, where you can add/remove/modify the IMU.

An example for MPO-700 is given below:

  <!--+++++++++++++++++++ IMU ++++++++++++++++++++++++-->
  <!-- Comment or uncomment based on your requirement -->
  <xacro:include filename="$(find neo_mpo_700)/robot_model/mpo_700/urdf/xacros/imu.xacro" />
  <xacro:imu name="imu_1" parent="base_link">
    <origin xyz="0.100 0 0.300" rpy="0 0 3.14" />
  </xacro:imu>

Adding/Removing/Modifying US sensors in the robot model

In the configuration repository for your respective platform (eg. neo_mpo_700) you can find the URDF file, where you can add/remove/modify a US sensor.

An example for MPO-700 is given below:

  <!--+++++++++++++++++++ Ultra Sonic ++++++++++++++++++++++++-->
  <!-- Comment or uncomment based on your requirement -->
  <xacro:include filename="$(find neo_mpo_700)/robot_model/mpo_700/urdf/xacros/ultrasonic.xacro" />
  <!-- SENSOR 1 --> 
  <xacro:us_sensor name="us_1" parent="base_link">
    <origin xyz="0.100 0 0.300" rpy="0 3.14 3.14" />
  </xacro:us_sensor>
  <!-- SENSOR 2 --> 
  <!-- xacro:us_sensor name="us_2" parent="base_link"> -->
  <!--   <origin xyz="0.110 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 3 --> 
  <!-- xacro:us_sensor name="us_3" parent="base_link"> -->
  <!--   <origin xyz="0.120 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 4 --> 
  <!-- xacro:us_sensor name="us_4" parent="base_link"> -->
  <!--   <origin xyz="0.130 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 5 --> 
  <!-- xacro:us_sensor name="us_5" parent="base_link"> -->
  <!--    <origin xyz="0.140 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 6 --> 
  <!-- xacro:us_sensor name="us_6" parent="base_link"> -->
  <!--    <origin xyz="0.150 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 7 --> 
  <!-- xacro:us_sensor name="us_7" parent="base_link"> -->
  <!--    <origin xyz="0.160 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 8 --> 
  <!-- xacro:us_sensor name="us_8" parent="base_link"> -->
  <!--   <origin xyz="0.170 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 9 --> 
  <!-- xacro:us_sensor name="us_9" parent="base_link"> -->
  <!--   <origin xyz="0.180 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 10 --> 
  <!-- xacro:us_sensor name="us_10" parent="base_link"> -->
  <!--   <origin xyz="0.100 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 11 --> 
  <!-- xacro:us_sensor name="us_11" parent="base_link"> -->
  <!--   <origin xyz="0.100 0 0.300" rpy="0 3.14 3.14" /> -->
  <!--  </xacro:us_sensor-->
  <!-- SENSOR 12 --> 
  <!-- xacro:us_sensor name="us_12" parent="base_link"> -->
  <!-- <origin xyz="0.190 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 13 --> 
  <!-- xacro:us_sensor name="us_13" parent="base_link"> -->
  <!-- 	<origin xyz="0.200 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 14 --> 
  <!-- xacro:us_sensor name="us_14" parent="base_link"> -->
  <!-- <origin xyz="0.210 0 0.300" rpy="0 3.14 3.14" /> -->
  <!--  </xacro:us_sensor-->
  <!-- SENSOR 15 --> 
  <!-- xacro:us_sensor name="us_15" parent="base_link"> --> 
  <!--   <origin xyz="0.220 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
  <!-- SENSOR 16 --> 
  <!-- xacro:us_sensor name="us_16" parent="base_link"> -->
  <!--     <origin xyz="0.230 0 0.300" rpy="0 3.14 3.14" /> -->
  <!-- </xacro:us_sensor-->
    

Adding/Removing/Modifying a Camera in the robot model

In the configuration repository for your respective platform (eg. neo_mpo_700) you can find the URDF file, where you can add/remove/modify a camera.

An example for MPO-700 is given below:

<!-- Camera -->
<xacro:camera name="camera" parent="base_link">
  <origin xyz="0 0 0.38" rpy="0 0 0" />
</xacro:camera>
  • No labels