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
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.

OpenRgbdCamera

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

CloseRgbdCamera

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

OpenBinocularCamera

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

CloseBinocularCamera

Item	Content
Function Name	CloseBinocularCamera
Function Declaration	Status CloseBinocularCamera();
Function Overview	Close binocular 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.

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.

SubscribeHeadRgbdCameraInfo

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

SubscribeBinocularImage

Item	Content
Function Name	SubscribeBinocularImage
Function Declaration	void SubscribeBinocularImage(const BinocularImageCallback& callback);
Function Overview	Subscribe to binocular 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.

SubscribeBinocularCameraInfo

Item	Content
Function Name	SubscribeBinocularCameraInfo
Function Declaration	void SubscribeBinocularCameraInfo(const RgbdCameraInfoCallback& callback);
Function Overview	Subscribe to binocular camera parameters
Parameter Description	callback: Parameter 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)

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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

---

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

---

BinocularCameraFrame — Binocular Camera Frame Data Structure

Field Name	Type	Description
header	Header	Common message header
format	std::string	Image format
data	vector<uint8_t>	Left eye and binocular stitched image data, left half is left eye image, right half is right eye image