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How to Visualize Sensor FoV

asked 2020-07-14 11:02:13 -0500

Jacob.Beck27 gravatar image

updated 2020-07-14 11:17:19 -0500

I'm designing a robot, and I'd like to use ROS tools to see how sensor placement affects coverage. Ideally, I'd like to create a model with various sensors and see the field of view (frustum) of each one. This appears to be possible, as the screenshots of Gazebo show in this article. How can I accomplish this? I'm working in ROS kinetic.

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It looks like I might need to set the visualize element as defined here. Still working on getting this into my xacros.

Jacob.Beck27 gravatar image Jacob.Beck27  ( 2020-07-14 17:28:10 -0500 )edit

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answered 2020-07-16 18:01:06 -0500

Jacob.Beck27 gravatar image

As I suspected, the visualize element was the answer. I've attached a complete example that can be used in a URDF for other's reference.

<gazebo reference="color_camera_link">
  <sensor type="camera" name="camera">
    <camera name="camera">
      <horizontal_fov>${69.4 * pi / 180}</horizontal_fov>
    <plugin name="camera_controller" filename="">
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Asked: 2020-07-14 11:02:13 -0500

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Last updated: Jul 16 '20