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

Interface Definition

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

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

SensorController

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

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.

open_lidar

Item	Content
Function Name	open_lidar
Function Declaration	Status open_lidar()
Function Overview	Open LiDAR.
Return Value	Status object, Status.code == ErrorCode.OK indicates success.
Notes	Blocking interface.

close_lidar

Item	Content
Function Name	close_lidar
Function Declaration	Status close_lidar()
Function Overview	Close LiDAR.
Return Value	Status object, Status.code == ErrorCode.OK indicates success.
Notes	Blocking interface, used in conjunction with open function.

open_head_rgbd_camera

Item	Content
Function Name	open_head_rgbd_camera
Function Declaration	Status open_head_rgbd_camera()
Function Overview	Open head RGBD camera.
Return Value	Status object, Status.code == ErrorCode.OK indicates success.
Notes	Blocking interface.

close_head_rgbd_camera

Item	Content
Function Name	close_head_rgbd_camera
Function Declaration	Status close_head_rgbd_camera()
Function Overview	Close head RGBD camera.
Return Value	Status object, Status.code == ErrorCode.OK indicates success.
Notes	Blocking interface, used in conjunction with open function.

open_binocular_camera

Item	Content
Function Name	open_binocular_camera
Function Declaration	Status open_binocular_camera()
Function Overview	Open binocular camera.
Return Value	Status object, Status.code == ErrorCode.OK indicates success.
Notes	Blocking interface.

close_binocular_camera

Item	Content
Function Name	close_binocular_camera
Function Declaration	Status close_binocular_camera()
Function Overview	Close binocular camera.
Return Value	Status object, Status.code == ErrorCode.OK indicates success.
Notes	Blocking interface, used in conjunction with open function.

subscribe_lidar_imu

Item	Content
Function Name	subscribe_lidar_imu
Function Declaration	void subscribe_lidar_imu(callback)
Function Overview	Subscribe to LiDAR IMU data
Parameter Description	callback: Data processing function after receiving data, signature is callback(data: Imu) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

subscribe_lidar_point_cloud

Item	Content
Function Name	subscribe_lidar_point_cloud
Function Declaration	void subscribe_lidar_point_cloud(callback)
Function Overview	Subscribe to LiDAR point cloud data
Parameter Description	callback: Point cloud processing function after receiving data, signature is callback(data: PointCloud2) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

subscribe_head_rgbd_color_image

Item	Content
Function Name	subscribe_head_rgbd_color_image
Function Declaration	void subscribe_head_rgbd_color_image(callback)
Function Overview	Subscribe to head RGBD color image data
Parameter Description	callback: Image processing function after receiving data, signature is callback(data: Image) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

subscribe_head_rgbd_depth_image

Item	Content
Function Name	subscribe_head_rgbd_depth_image
Function Declaration	void subscribe_head_rgbd_depth_image(callback)
Function Overview	Subscribe to head RGBD depth image data
Parameter Description	callback: Depth image processing function after receiving data, signature is callback(data: Image) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

subscribe_head_rgbd_camera_info

Item	Content
Function Name	subscribe_head_rgbd_camera_info
Function Declaration	void subscribe_head_rgbd_camera_info(callback)
Function Overview	Subscribe to head RGBD camera parameter data
Parameter Description	callback: Camera intrinsic parameter processing function after receiving data, signature is callback(data: CameraInfo) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

subscribe_binocular_image

Item	Content
Function Name	subscribe_binocular_image
Function Declaration	void subscribe_binocular_image(callback)
Function Overview	Subscribe to binocular camera image frame data
Parameter Description	callback: Binocular camera data processing function after receiving data, signature is callback(data: BinocularCameraFrame) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

subscribe_binocular_camera_info

Item	Content
Function Name	subscribe_binocular_camera_info
Function Declaration	void subscribe_binocular_camera_info(callback)
Function Overview	Subscribe to binocular camera parameter data
Parameter Description	callback: Camera intrinsic parameter processing function after receiving data, signature is callback(data: CameraInfo) -> None
Notes	Non-blocking interface, callback function will be called when data is updated.

Data Types

Imu

IMU data structure, containing sensor data such as attitude, angular velocity, linear acceleration, etc.

Field Name	Type	Description
timestamp	int64_t	Timestamp (nanoseconds)
temperature	float	Temperature (Celsius)
orientation	Quaternion	Attitude quaternion
angular_velocity	Vector3	Angular velocity (rad/s)
linear_acceleration	Vector3	Linear acceleration (m/s²)

PointCloud2

Point cloud data structure, containing 3D point cloud information.

Field Name	Type	Description
header	Header	Standard message header (timestamp + frame_id)
height	int32_t	Point cloud height (number of rows)
width	int32_t	Point cloud width (number of columns)
fields	list[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	list[uint8_t]	Raw point cloud data (packed by field)
is_dense	bool	Whether it is a dense point cloud (no invalid points)

Image

Image data structure, supporting multiple encoding formats.

Field Name	Type	Description
header	Header	Standard message header (timestamp + frame_id)
height	int32_t	Image height (pixels)
width	int32_t	Image width (pixels)
encoding	str	Image encoding type, such as "rgb8", "mono8", "bgr8"
is_bigendian	bool	Whether data is in big-endian mode
step	int32_t	Number of bytes per image row
data	list[uint8_t]	Raw image byte data

CameraInfo

Camera intrinsic parameters and distortion information, usually published together with Image messages.

Field Name	Type	Description
header	Header	Standard message header (timestamp + frame_id)
height	int32_t	Image height (number of rows)
width	int32_t	Image width (number of columns)
distortion_model	str	Distortion model, e.g., "plumb_bob"
D	list[double]	Distortion parameter array
K	list[double]	Camera intrinsic matrix (9 elements)
R	list[double]	Rectification matrix (9 elements)
P	list[double]	Projection matrix (12 elements)
binning_x	int32_t	Horizontal binning coefficient
binning_y	int32_t	Vertical binning coefficient
roi_x_offset	int32_t	ROI start x
roi_y_offset	int32_t	ROI start y
roi_height	int32_t	ROI height
roi_width	int32_t	ROI width
roi_do_rectify	bool	Whether to perform rectification

BinocularCameraFrame

Binocular camera frame data structure, containing format and image frames.

Field Name	Type	Description
header	Header	Common message header (timestamp + frame_id)
format	str	Image format
data	list[uint8_t]	Left and right eye stitched image data, left half is left eye image, right half is right eye image