{"id":20563241,"url":"https://github.com/gazebosim/gz-sensors","last_synced_at":"2025-12-12T00:51:04.083Z","repository":{"id":37048738,"uuid":"255865360","full_name":"gazebosim/gz-sensors","owner":"gazebosim","description":"Provides numerous sensor models designed to generate realistic data from simulation 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Gazebo Sensors : Sensor models for simulation\n\n**Maintainer:** ichen AT openrobotics DOT org\n\n[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-sensors.svg)](https://github.com/gazebosim/gz-sensors/issues)\n[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-sensors.svg)](https://github.com/gazebosim/gz-sensors/pulls)\n[![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)\n[![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)\n\nBuild | Status\n-- | --\nTest coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sensors/tree/gz-sensors9/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sensors/tree/gz-sensors9)\nUbuntu Noble | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sensors-ci-gz-sensors9-noble-amd64)](https://build.osrfoundation.org/job/gz_sensors-ci-gz-sensors9-noble-amd64)\nHomebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sensors-ci-gz-sensors9-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sensors-ci-gz-sensors9-homebrew-amd64)\nWindows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sensors-9-clowin)](https://build.osrfoundation.org/job/gz_sensors-9-clowin/)\n\nGazebo Sensors, a component of [Gazebo](https://gazebosim.org),\nprovides numerous sensor models\ndesigned to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with [Gazebo Libraries](https://gazebosim.org/libs), and especially relies on the rendering capabilities from [Gazebo Rendering](https://gazebosim.org/libs/rendering) and physics simulation from [Gazebo Physics](https://gazebosim.org/libs/physics).\n\n# Table of Contents\n\n[Features](#features)\n\n[Install](#install)\n\n[Usage](#usage)\n\n[Folder Structure](#folder-structure)\n\n[Code of Conduct](#code-of-conduct)\n\n[Contributing](#contributing)\n\n[Versioning](#versioning)\n\n[License](#license)\n\n# Features\n\nGazebo Sensors provides a set of sensors models that can be\nconfigured at run time to mimic specific real-world sensors. A noise model\nis also provided that can be used to introduce Gaussian or custom noise\nmodels into sensor streams.\n\n## Supported Sensors\n\n| **Sensor Name**           | **API Link**                                                                                                 | **SDF Element**                                                                                      | **Notes**                                          |\n|---------------------------|-------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------|----------------------------------------------------|\n| **Air Pressure Sensor**   | [AirPressureSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirPressureSensor.html)        | [`\u003cair_pressure\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_air_pressure)                | Measures atmospheric pressure                      |\n| **Air Speed Sensor**      | [AirSpeedSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirSpeedSensor.html)              | N/A                                                                                    | Measures the speed of air relative to the sensor    |\n| **Altimeter**             | [AltimeterSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AltimeterSensor.html)            | [`\u003caltimeter\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_altimeter)                      | Measures altitude above a reference point          |\n| **Bounding Box Camera**   | [BoundingBoxCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1BoundingBoxCameraSensor.html) | [`\u003ccamera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_camera)                         | Captures images with bounding box annotations      |\n| **Camera**                | [CameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1CameraSensor.html)                  | [`\u003ccamera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_camera)                           | Captures standard RGB images                       |\n| **Depth Camera**          | [DepthCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1DepthCameraSensor.html)        | [`\u003cdepth_camera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#camera_depth_camera)              | Captures depth information                         |\n| **Doppler Velocity Log**  | [DopplerVelocityLog](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1DopplerVelocityLog.html)      | N/A                                | Measures relative velocity of an underwater vehicle |\n| **Force-Torque**          | [ForceTorqueSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1ForceTorqueSensor.html)        | [`\u003cforce_torque\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_force_torque)              | Measures forces and torques on a joint             |\n| **GPU Lidar**             | [GpuLidarSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1GpuLidarSensor.html)              | [`\u003clidar\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_lidar)                            | Simulates a 3D laser scanner using GPU acceleration|\n| **IMU**                   | [ImuSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1ImuSensor.html)                        | [`\u003cimu\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_imu)                                | Measures linear acceleration and angular velocity  |\n| **Logical Camera**        | [LogicalCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1LogicalCameraSensor.html)    | [`\u003clogical_camera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_logical_camera)          | Detects models within a specified volume           |\n| **Magnetometer**          | [MagnetometerSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1MagnetometerSensor.html)      | [`\u003cmagnetometer\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_magnetometer)              | Measures magnetic field strength and direction     |\n| **NavSat (GPS)**          | [NavSatSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1NavSatSensor.html)                  | [`\u003cnavsat\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_navsat)                          | Simulates GPS-like positioning sensor              |\n| **RGBD Camera**           | [RGBDCameraSensor](https://gazebosim.org/api/sensors/7/classgz_1_1sensors_1_1RgbdCameraSensor.html)          | [`\u003ccamera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_camera) | Captures RGB + Depth streams                       |\n| **Segmentation Camera**   | [SegmentationCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1SegmentationCameraSensor.html) | [`\u003ccamera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_camera)              | Captures labeled segmentation images               |\n| **Thermal Camera**        | [ThermalCameraSensor](https://gazebosim.org/api/sensors/7/classgz_1_1sensors_1_1ThermalCameraSensor.html)    | [`\u003ccamera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_camera)                         | Detects heat signature                             |\n| **Wide Angle Camera**     | [WideAngleCameraSensor](https://gazebosim.org/api/sensors/8/classgz_1_1sensors_1_1WideAngleCameraSensor.html)| [`\u003ccamera\u003e`](http://sdformat.org/spec?ver=1.12\u0026elem=sensor#sensor_camera)                         | Captures wide field of view                        |\n\n# Install\n\nSee the [installation tutorial](https://gazebosim.org/api/sensors/9/installation.html).\n\n# Usage\n\nPlease refer to the [examples directory](https://github.com/gazebosim/gz-sensors/tree/main/examples).\n\nA list of sensors and SDF examples can be found in the [SDF specification](http://sdformat.org/spec?ver=1.12\u0026elem=sensor)\n\n# Folder Structure\n\nRefer to the following table for information about important directories and files in this repository.\n\n```\n├── examples                  Example programs.\n├── include/gz/sensors        Header files that will be installed.\n├── src                       Source files and unit tests.\n├── test\n│    ├── integration          Integration tests.\n│    ├── performance          Performance tests.\n│    └── regression           Regression tests.\n├── tutorials                 Tutorials, written in markdown.\n├── Changelog.md              Changelog.\n├── CMakeLists.txt            CMake build script.\n└── README.md                 This readme.\n```\n\n# Contributing\n\nPlease see the [contribution guide](https://gazebosim.org/docs/all/contributing).\n\n# Code of Conduct\n\nPlease see\n[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).\n\n# Versioning\n\nThis library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.\n\n# License\n\nThis library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-sensors/blob/main/LICENSE) file.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgazebosim%2Fgz-sensors","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgazebosim%2Fgz-sensors","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgazebosim%2Fgz-sensors/lists"}