Pose¶
This sensor returns the full pose of the sensor, i.e. both translation and rotation with respect to the Blender world frame.
Configuration parameters for Pose¶
No configurable parameter.
Data fields¶
This sensor exports these datafields at each simulation step:
timestamp
(float, initial value:0.0
)- number of seconds in simulated time
x
(float, initial value:0.0
)- x coordinate of the sensor, in world coordinate, in meter
y
(float, initial value:0.0
)- y coordinate of the sensor, in world coordinate, in meter
z
(float, initial value:0.0
)- z coordinate of the sensor, in world coordinate, in meter
yaw
(float, initial value:0.0
)- rotation around the Z axis of the sensor, in radian
pitch
(float, initial value:0.0
)- rotation around the Y axis of the sensor, in radian
roll
(float, initial value:0.0
)- rotation around the X axis of the sensor, in radian
Interface support:
ros
as geometry_msgs/PoseStamped (morse.middleware.ros.pose.PoseStampedPublisher
) or as std_msgs/Header (morse.middleware.ros.pose.TFPublisher
)socket
as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher
)yarp
as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher
)text
as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher
)pocolibs
as POM_ME_POS (morse.middleware.pocolibs.sensors.pom.PomSensorPoster
) or as POM_POS (morse.middleware.pocolibs.sensors.pom.PomPoster
)moos
as PoseNotifier (morse.middleware.moos.pose.PoseNotifier
)
Services for Pose¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the sensor
pose = Pose()
# place your component at the correct location
pose.translate(<x>, <y>, <z>)
pose.rotate(<rx>, <ry>, <rz>)
robot.append(pose)
# define one or several communication interface, like 'socket'
pose.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.pose.)