Add new sensor

This wiki page explains how to add a new sensor to the robot in both simulation and real robot.

The process involves these steps:

1. Add the sensor description
2. Specify the robot pose w.r.t. the stack
3. Update calibration values
4. Add driver node for the real robot

1. Add the sensor description

First, you have to add the Xacro with the description of the camera and assign it a particular name. For example d435i. The file should be placed in create_autonomy/ca_description/urdf/sensors/lasers.

2. Specify the robot pose w.r.t. the stack

Then, if you have to specify its pose with respect to the robot in this YAML file. The name of the Xacro must match with the tag name here!

The stacks available are two:

• Roomblock
• Turtlebot

The currently supported stack is Turtlebot and it uses a similar stack used by the Turtlebot 2.

3. Update calibration values

You will also need to update these calibration values, if you have them. By default you can place them all in zero.

4. Add driver node for the real robot

If you want to use it with a real robot, you have to add an entry in create_autonomy/ca_bringup/launch/minimal.launch so you can execute its driver when you choose LASER=d435i. Check that all the launch files are defined in the ca_camera package, here.