Provides robot system sensor (LiDAR/RGBD camera/trinocular camera) services. Through SensorController, you can control robot sensors and obtain status via RPC and topic communication.

Interface Definition

SensorController is a management class that encapsulates various robot sensors, supporting initialization, control, and data subscription for LiDAR, RGBD cameras, and trinocular cameras.

⚠️ Notice: Current trinocular and RGBD sensor interfaces are not fully open yet.

SensorController

Item	Content
Function Name	SensorController
Function Declaration	SensorController();
Function Overview	Constructor, initializes sensor controller object.
Notes	Constructs internal state.

~SensorController

Item	Content
Function Name	~SensorController
Function Declaration	virtual ~SensorController();
Function Overview	Destructor, releases all sensor resources.
Notes	Sensors should be closed before calling.

Initialize

Item	Content
Function Name	Initialize
Function Declaration	bool Initialize();
Function Overview	Initialize controller, including resource allocation and driver loading.
Return Value	true indicates success, false indicates failure.
Notes	Object must be constructed before calling.

Shutdown

Item	Content
Function Name	Shutdown
Function Declaration	void Shutdown();
Function Overview	Close all sensor connections and release resources.
Notes	Used in conjunction with Initialize.

OpenLidar

Item	Content
Function Name	OpenLidar
Function Declaration	Status OpenLidar();
Function Overview	Open LiDAR.
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface.

CloseLidar

Item	Content
Function Name	CloseLidar
Function Declaration	Status CloseLidar();
Function Overview	Close LiDAR.
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface, used in conjunction with open function.

OpenHeadRgbdCamera

Item	Content
Function Name	OpenHeadRgbdCamera
Function Declaration	Status OpenHeadRgbdCamera();
Function Overview	Open head RGBD camera (head and waist).
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface.

CloseHeadRgbdCamera

Item	Content
Function Name	CloseHeadRgbdCamera
Function Declaration	Status CloseHeadRgbdCamera();
Function Overview	Close head RGBD camera.
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface, used in conjunction with open function.

OpenWaistRgbdCamera

Item	Content
Function Name	OpenWaistRgbdCamera
Function Declaration	Status OpenWaistRgbdCamera();
Function Overview	Open waist RGBD camera (head and waist).
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface.

CloseWaistRgbdCamera

Item	Content
Function Name	CloseWaistRgbdCamera
Function Declaration	Status CloseWaistRgbdCamera();
Function Overview	Close waist RGBD camera.
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface, used in conjunction with open function.

OpenTrinocularCamera

Item	Content
Function Name	OpenTrinocularCamera
Function Declaration	Status OpenTrinocularCamera();
Function Overview	Open trinocular camera.
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface.

CloseTrinocularCamera

Item	Content
Function Name	CloseTrinocularCamera
Function Declaration	Status CloseTrinocularCamera();
Function Overview	Close trinocular camera.
Return Value	Status::OK indicates success, others indicate failure.
Notes	Blocking interface.

SubscribeLidarImu

Item	Content
Function Name	SubscribeLidarImu
Function Declaration	void SubscribeLidarImu(const LidarImuCallback& callback);
Function Overview	Subscribe to LiDAR IMU data
Parameter Description	callback: Data processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeLidarPointCloud

Item	Content
Function Name	SubscribeLidarPointCloud
Function Declaration	void SubscribeLidarPointCloud(const LidarPointCloudCallback& callback);
Function Overview	Subscribe to LiDAR point cloud data
Parameter Description	callback: Point cloud processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeHeadRgbdColorImage

Item	Content
Function Name	SubscribeHeadRgbdColorImage
Function Declaration	void SubscribeHeadRgbdColorImage(const RgbdImageCallback& callback);
Function Overview	Subscribe to head RGBD color image data
Parameter Description	callback: Image processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeHeadRgbdColorCameraInfo

Item	Content
Function Name	SubscribeHeadRgbdColorCameraInfo
Function Declaration	void SubscribeHeadRgbdColorCameraInfo(const RgbdCameraInfoCallback& callback);
Function Overview	Subscribe to head RGBD color camera parameters
Parameter Description	callback: Parameter processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeHeadRgbdDepthImage

Item	Content
Function Name	SubscribeHeadRgbdDepthImage
Function Declaration	void SubscribeHeadRgbdDepthImage(const RgbdImageCallback& callback);
Function Overview	Subscribe to head RGBD depth image data
Parameter Description	callback: Image processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeHeadRgbdDepthCameraInfo

Item	Content
Function Name	SubscribeHeadRgbdDepthCameraInfo
Function Declaration	void SubscribeHeadRgbdDepthCameraInfo(const RgbdCameraInfoCallback& callback);
Function Overview	Subscribe to head RGBD depth camera parameters
Parameter Description	callback: Parameter processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeWaistRgbdColorImage

Item	Content
Function Name	SubscribeWaistRgbdColorImage
Function Declaration	void SubscribeWaistRgbdColorImage(const RgbdImageCallback& callback);
Function Overview	Subscribe to waist RGBD color image data
Parameter Description	callback: Image processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeWaistRgbdColorCameraInfo

Item	Content
Function Name	SubscribeWaistRgbdColorCameraInfo
Function Declaration	void SubscribeWaistRgbdColorCameraInfo(const RgbdCameraInfoCallback& callback);
Function Overview	Subscribe to waist RGBD color camera parameters
Parameter Description	callback: Parameter processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeWaistRgbdDepthImage

Item	Content
Function Name	SubscribeWaistRgbdDepthImage
Function Declaration	void SubscribeWaistRgbdDepthImage(const RgbdImageCallback& callback);
Function Overview	Subscribe to waist RGBD depth image data
Parameter Description	callback: Image processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeWaistRgbdDepthCameraInfo

Item	Content
Function Name	SubscribeWaistRgbdDepthCameraInfo
Function Declaration	void SubscribeWaistRgbdDepthCameraInfo(const RgbdCameraInfoCallback& callback);
Function Overview	Subscribe to waist RGBD depth camera parameters
Parameter Description	callback: Parameter processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

SubscribeTrinocularImage

Item	Content
Function Name	SubscribeTrinocularImage
Function Declaration	void SubscribeTrinocularImage(const TrinocularImageCallback& callback);
Function Overview	Subscribe to trinocular camera image frames
Parameter Description	callback: Image frame processing function after receiving data
Notes	Non-blocking interface, callback function will be called when data is updated.

Type Definitions

Imu — IMU Data Structure

Field Name	Type	Description
timestamp	int64_t	Timestamp (unit: nanoseconds)
orientation[4]	std::array<double, 4>	Attitude quaternion (w, x, y, z)
angular_velocity[3]	std::array<double, 3>	Angular velocity (unit: rad/s)
linear_acceleration[3]	std::array<double, 3>	Linear acceleration (unit: m/s²)
temperature	float	Temperature (unit: Celsius or other, unit should be specified)

---

Header — Common Message Header Structure

Field Name	Type	Description
stamp	int64_t	Timestamp (unit: nanoseconds)
frame_id	std::string	Coordinate frame name

---

PointField — Point Field Description

Field Name	Type	Description
name	std::string	Field name (such as x, y, z, intensity)
offset	int32_t	Starting byte offset
datatype	int8_t	Data type (corresponding constant)
count	int32_t	Number of elements this field contains per point

---

PointCloud2 — Point Cloud Data Structure

Field Name	Type	Description
header	Header	Message header
height	int32_t	Number of rows
width	int32_t	Number of columns
fields	vector<PointField>	Point field array
is_bigendian	bool	Byte order
point_step	int32_t	Number of bytes per point
row_step	int32_t	Number of bytes per row
data	vector<uint8_t>	Raw point cloud byte data
is_dense	bool	Whether dense point cloud

---

Image — Image Data Structure

Field Name	Type	Description
header	Header	Message header
height	int32_t	Image height (pixels)
width	int32_t	Image width (pixels)
encoding	std::string	Encoding type (such as rgb8, mono8)
is_bigendian	bool	Whether big-endian mode
step	int32_t	Number of bytes per image row
data	vector<uint8_t>	Raw image byte data

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CameraInfo — Camera Intrinsic Parameters and Distortion Information

Field Name	Type	Description
header	Header	Message header
height	int32_t	Image height
width	int32_t	Image width
distortion_model	std::string	Distortion model (such as plumb_bob)
D	vector<double>	Distortion parameter array
K	std::array<double, 9>	Camera intrinsic parameter matrix
R	std::array<double, 9>	Rectification matrix
P	std::array<double, 12>	Projection matrix
binning_x	int32_t	Horizontal binning coefficient
binning_y	int32_t	Vertical binning coefficient
roi_x_offset	int32_t	ROI starting x coordinate
roi_y_offset	int32_t	ROI starting y coordinate
roi_height	int32_t	ROI height
roi_width	int32_t	ROI width
roi_do_rectify	bool	Whether to perform rectification

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TrinocularCameraFrame — Trinocular Camera Frame Data Structure

Field Name	Type	Description
header	Header	Common message header
vin_time	int64_t	Image acquisition time (nanoseconds)
decode_time	int64_t	Image decoding time (nanoseconds)
imgfl_array	vector<uint8_t>	Left eye image data
imgf_array	vector<uint8_t>	Center eye image data
imgfr_array	vector<uint8_t>	Right eye image data