About creating a multi-sensors plugin

asked 2022-05-25 08:38:16 -0500

Myzhar gravatar image

Hi, I'm creating a multi-sensors plugin, that is composed of 2 RGB cameras (stereovision), an IMU, and a magnetometer. I successfully created a sensor plugin based on the multicamera sensor, but I'm thinking about creating a model plugin instead. Furthermore, I would like to set up the pose of the sensors in the code of the plugin because they are fixed values and I do not want that they are editable by the SDF. Is there a way to set the pose of the sensors relative to the main link instead of the world frame?

The plugin should work "outside" ROS, with the option to integrate it in a ROS simulation.

Thank you Walter

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