Attitude sensor

This sensor is an high-level sensor, returning the attitude of the sensor (i.e. angles and angular velocities). It can be seen as the integration of an IMU, or a couple gyroscope/gyrometer.

If the robot has a physics controller, the velocities are directly read from its property localAngularVelocity. Otherwise the velocities are calculated by simple differentiation. The measurements are given in the sensor coordinate system.

Configuration parameters for Attitude sensor

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

• UseAngleAgainstNorth (bool, default: False)

  If set to true, return the absolute yaw against North. The whole geodetic coordinates (longitude, latitude, altitude, angle_against_north) must be configured. Otherwise, return the yaw against the Blender coordinates

• ComputationMode (string, default: "Automatic")

  Kind of computation, can be one of [‘Velocity’, ‘Position’]. Only robot with dynamic and Velocity control can choose Velocity computation. Default choice is Velocity for robot with physics, and Position for others

Data fields

This sensor exports these datafields at each simulation step:

• timestamp (float, initial value: 0.0)

  number of seconds in simulated time

• rotation (Euler angles (XYZ), initial value: [0.0, 0.0, 0.0])

  rotation of the sensor, in radian

• angular_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

  rates in the sensors axis x, y, z axes (in radian . sec ^ -1)

Interface support:

• socket as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher)
• yarp as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher)
• moos as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher)
• text as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher)
• mavlink as AttitudeSensor (morse.middleware.mavlink.attitude.AttitudeSensor)

Services for Attitude sensor

• 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
attitude = Attitude()

# place your component at the correct location
attitude.translate(<x>, <y>, <z>)
attitude.rotate(<rx>, <ry>, <rz>)

robot.append(attitude)

# define one or several communication interface, like 'socket'
attitude.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

• Source code
• Unit-test

(This page has been auto-generated from MORSE module morse.sensors.attitude.)