Sensor Configuration
Sensor Configuration is a common part of all sensors, encapsulating topics as well as Quality of Service settings and frequency for publishing.
Properties
| Property | Description | Values | Default |
|---|---|---|---|
| Visualise | Whether to show visualisation of sensor working in the simulation, such as drawing point clouds for lidars. | Boolean | true |
| Publishing Enabled | Turn publishing sensor data on or off. | Boolean | true |
| Frequency | How often to publish sensor data (per second). | Float | 10.0 |
Sensor Configuration can include multiple topics. For each topic, the following properties are listed:
| Property | Description | Values | Default |
|---|---|---|---|
| Topic | Name of topic. Note that it should not include namespace, since namespaces are handled by ROS 2 Frame components. | String | Depends on sensor |
| Reliability Policy | Quality of Service (QoS) reliability setting. It controls whether published data needs to be delivered (with confirmation) or is only sent on best-effort basis. | Enumeration | Best Effort |
| Durability Policy | Quality of Service (QoS) durability setting. It controls whether published data persists for subscribers that join later. | Enumeration | Volatile |
| History | Quality of Service (QoS) history depth, which is how many messages are kept in the sender queue. | Integer | 5 |