Vehicle

The Vehicle XML blocks configure the available vehicles in the scenes, initial position and joint state and the sensors available in the vehicle. It is possible to add as many vehicles as necessary just adding multiple vehicle XML blocks when Configuring and creating scenes.

XML syntax

Although vehicles are highly configurable the only required tags to set up a vehicle are name and file.

• name: This parameters sets the vehicle's name that will identify it.
• file: The URDF file where full description of joints, visual mesh, collision mesh...etc may be provided.
• position: Initial position of the vehicle.
• orientation: Initial rotation of the vehicle, stated in RPY.
• scaleFactor: Scale for the complete vehicle (every link in URDF will be scaled).
• virtualCamera: Describes the characteristics of the camera attached to the vehicle.
• structuredLightProjector: Light projector features, may be used to simulate a laser projector or light. More info here.
• rangeSensor: Measures the distance to the nearest obstacle. More info here
• objectPicker: Simulates a grasp (without physics) attaching the nearest object to the sensor when it reaches a certain distance.
• imu: Estimates the vehicle rotation with respect to the world.
• pressureSensor: Pressure sensor.
• gpsSensor: Gives the vehicle world position. Note only works when the vehicle is near the surface.
• dvlSensor: Estimates vehicle linear speed.
• virtualRangeImage: greyscale distance image, analog to virtualCameras but with range information.
• multibeamSensor: Simulates an array of rangeSensors, returning the distance to the nearest obstacle in the ZX plane. More info here.
• simulatedDevices: Used for creating devices using the new interface for them. Deprecated, new simulated devices can be added without using it.
• echo: Example test device for new interface devices.
• ForceSensor: Uses bullet physics to simulate a force sensor in a link of the vehicle returning force torque forces for collisions. More info here.
• DredgeTool: Dredging tool available for unearthing sand buried objects. More info here.