Ignition Sensors : Sensor models for simulation

Maintainer: nate AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Bionic
Homebrew
Windows

Ignition Sensors, a component of Ignition Robotics, provides numerous sensor models designed to generate realistic data from simulation environments. Ignition Sensors is used in conjunction with Ignition Libraries, and especially relies on the rendering capabilities from Ignition Rendering and physics simulation from Ignition Physics.

Table of Contents

Features

Install

• Binary Install

• Source Install

  • Prerequisites

  • Building from Source

Usage

Documentation

Testing

Folder Structure

Code of Conduct

Contributing

Versioning

License

Features

Ignition Sensors provides a set of sensors models that can be configured at run time to mimic specific real-world sensors. A noise model is also provided that can be used to introduce Gaussian or custom noise models into sensor streams.

Install

We recommend following the Binary Install instructions to get up and running as quickly and painlessly as possible.

The Source Install instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Binary Install

On Ubuntu systems, apt-get can be used to install ignition-sensors:

Ubuntu Bionic

1. Configure package repositories.

   sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
   

   sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list'
   

   wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   

   sudo apt-get update
   

sudo apt install libignition-sensors-dev

At the time of this writing, there is only one released version of ignition-sensors. It's possible that additional versions have been released, in which case you can use add a numeral (2, 3, etc) to install a different version. For example, to install version 2:

sudo apt-get install libignition-sensors2-dev

Source Install

Source installation can be performed in UNIX systems by first installing the necessary prerequisites followed by building from source.

Prerequisites

Ignition Sensors requires:

• Ubuntu Bionic
• Ignition CMake
• Ignition Math
• Ignition Common
• Ignition Transport
• Ignition Rendering
• Ignition Msgs
• SDFormat
• Protobuf3

Building from source

1. Make sure you are running Ubuntu Bionic.

2. Install the Prerequisites.

3. Configure gcc8

   sudo apt-get install g++-8
   

   update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
   

4. Clone the repository

   git clone https://github.com/ignitionrobotics/ign-sensors
   

5. Configure and build

   cd ign-sensors; mkdir build;cd build; cmake ..;  make
   

6. Optionally, install Ignition Common

   sudo make install
   

Usage

Please refer to the examples directory.

Documentation

API and tutorials can be found at https://ignitionrobotics.org/libs/sensors.

You can also generate the documentation from a clone of this repository by following these steps.

1. You will need Doxygen. On Ubuntu Doxygen can be installed using

   sudo apt-get install doxygen
   

2. Clone the repository

   git clone https://github.com/ignitionrobotics/ign-sensors
   

3. Configure and build the documentation.

   cd ign-sensors; mkdir build; cd build; cmake ../; make doc
   

4. View the documentation by running the following command from the build directory.

   firefox doxygen/html/index.html
   

Testing

Follow these steps to run tests and static code analysis in your clone of this repository.

1. Follow the source install instruction.

2. Run tests.

   make test
   

3. Static code checker.

   make codecheck
   

Folder Structure

Refer to the following table for information about important directories and files in this repository.

├── examples                  Example programs.
├── include/ignition/sensors  Header files that will be installed.
├── src                       Source files and unit tests.
├── test
│    ├── integration          Integration tests.
│    ├── performance          Performance tests.
│    └── regression           Regression tests.
├── tutorials                 Tutorials, written in markdown.
├── Changelog.md              Changelog.
├── CMakeLists.txt            CMake build script.
└── README.md                 This readme.  

Contributing

Please see CONTRIBUTING.md.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Ignition Robotics project which periodically releases a versioned set of compatible and complimentary libraries. See the Ignition Robotics website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.