DeviceLibrary

Device library is a xacro library example for sensors and actuators available for uwsim vehicles when Configuring and creating scenes. This library creates some macros for specific sensors that can be easily added to any vehicle. We recommend to create you own device library with the common devices you use in your simulations such as cameras, multibeams, sonars... etc. So you just have to specify its parameters once.

In the example deviceLibrary.xacro we have created two device macros with their own ROS interface macro. We left pose arguments to be able to attach them anywhere in the vehicle.

• bowtech1: This macro creates a bowtech camera, identical to the cirs.xml scene. Requires relativeTo, x, y, z, roll, pitch, yaw.
• bowtech_iface: This macro creates a ROS virtual camera interface for bowtech camera. Doesn't require any argument.
• example_multibeam: Creates a multibeam identical to the one in cirs.xml scene. Requires pose argumentes: relativeTo, x, y, z, roll, pitch, yaw.
• example_multibeam_iface: Creates a multibeam interface for the example multibeam.

Check VehicleLibrary for an example of use of this macros.