Sensor Configuration

The "Sensors" tab allows users to add and configure various sensors to their robots within the simulation environment. These sensors are integral to the robot's interaction with the environment, providing necessary data for navigation, obstacle avoidance, and environmental analysis.

Main Interface Overview

Configurable Sensors

The AirGen simulator provides a variety of sensors that can be enabled or disabled according to the simulation needs:

  • GPS: Provides global positioning data for the robot.

  • IMU (Inertial Measurement Unit): Supplies information on the robot's velocity, orientation, and gravitational forces.

  • LiDAR (Light Detection and Ranging): Offers precise distance measurements by illuminating the target with laser light and measuring the reflection with a sensor.

  • Distance Sensor: Detects the distance between the sensor and an object, which is useful for collision avoidance and navigation.

LiDAR Configuration

When the LiDAR sensor is enabled, the following parameters can be configured:

  • NumberOfChannels: Defines the number of channels the LiDAR sensor has. More channels typically mean more detailed measurements.

  • Position (X, Y, Z): Sets the position of the LiDAR sensor relative to the robot's body.

  • Rotation (Roll, Pitch, Yaw): Adjusts the sensor's orientation.

  • Field of View (FOV):

    • VerticalFOVUpper and VerticalFOVLower: Set the upper and lower bounds of the vertical field of view.

    • HorizontalFOVStart and HorizontalFOVEnd: Define the starting and ending angles of the horizontal field of view.

  • DrawDebugPoints: If checked, the simulation will visualize the points where the LiDAR's lasers hit an object.

Distance Sensor Configuration

For the Distance Sensor, users can set the following:

  • MinDistance and MaxDistance: Establish the minimum and maximum range within which the sensor can detect objects.

  • Position (X, Y, Z) and Rotation (Roll, Pitch, Yaw): Similar to LiDAR, these parameters determine the sensor's position and orientation on the robot.

  • DrawPoints: If enabled, the points of detection are visualized in the simulation.

Note

Correctly configuring sensors is essential for achieving realistic simulations. Users should refer to the specifications of their robot models to align sensor configurations with real-world counterparts.

Tip

Experiment with different sensor settings to understand how each parameter affects the robot's perception and interaction with the simulation environment.

Warning

Misconfigured sensors might lead to inaccurate simulation results. It is advisable to double-check the configuration before launching the simulation.

After finalizing the sensor configurations, proceed to the 'AI Models' tab to select and configure the AI algorithms that will process the sensor data.