RosInterfaces

This is one of the main XML blocks when Configuring and creating scenes. This block is used to set up the available ROS interfaces to communicate with the simulator.

XML syntax

This block is formed by different interfaces that may be added. Reminder: the order of XML elements matter. This available interfaces are:

• ROSOdomToPAT: This subscriber reads from a ROS odometry message and moves the target vehicle accordingly.
• PATToROSOdom: This interface publishes the target vehicle pose and velocity in a ROS odometry message.
• WorldToROSTF: TF ROS interface that publishes the pose of every object, vehicle and device present in the scene.
• ArmToROSJointState: Robotic arm interface that publishes ROS joint state messages with the information of non-fixed joints.
• ROSJointStateToArm: This subscriber read ROS joint state messages and moves the arm accordingly.
• VirtualCameraToROSImage: Creates a ROS Image publisher with the desired camera.
• ROSImageToHUD: Subscribes to ROS Image publisher to add a camera inside UWSim (for instance real input).
• ROSTwistToPAT: This subscriber reads ROS Twist messages to set the velocity to the target vehicle.
• RangeSensorToROSRange: Range devices publisher. Publishes the distance read by the virtual sensor.
• ROSPoseToPAT: Subscriber that reads ROS Pose messages and moves the vehicle to the stated position.
• ImuToROSImu: This interface publishes an Inertial Measurement Unit readings.
• PressureSensorToROS: Publisher for pressure sensors.
• GPSSensorToROS: Reads the information from GPS sensors and publish it.
• DVLSensorToROS: Creates a publisher for DVL devices.
• RangeImageSensorToROSImage: Uses the ROS Image publisher to send depth images from a range image sensor.
• multibeamSensorToLaserScan: Transforms the multibeam sensor readings in a LaserScan message and publishes it.
• SimulatedDeviceROS: Used for creating ROS interfaces inside the new plugin architecture. Deprecated, no longer needed.
• contactSensorToROS: Publishes a binary output depending on the vehicle collision state.
• echoROS: Device plugin example.
• ForceSensorROS: This interface publishes the information of force sensors in a ROS Wrench stamped message.
• ROSPointCloudLoader: This subscriber reads from ROS Pointcloud messages and represents them in the 3D UWSim view. More info here.
• RangeCameraToPCL: This subscriber uses a virtualRangeImage camera and publishes a Pointcloud as result.