Add list of supported sensors with API and SDF links to README by ganatrask · Pull Request #511 · gazebosim/gz-sensors

ganatrask · 2025-04-01T03:21:21Z

🎉 New feature

Closes #103

Summary

This PR adds a new section to the README.md that lists all supported sensors in the gz-sensors library.
The list includes:

Sensor name
API documentation link
SDF specification link
Example integration test file
Notes for each sensor

This improves discoverability for new users visiting the repository or the Gazebo Sim sensor docs page.

Test it

You can view the updated README.md and verify the new "Supported Sensors" section is rendered properly in Markdown preview mode.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (README.md)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
[] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

iche033

Thanks for the contribution!

It's looking good. I made some comments inline. Here are a few more comments:

For the SDF spec column, I see that it's pointing to the respective SDF element in the spec page. Can you change each row's text to the actual SDF element string? e.g. SDF Air Pressure -> <air_pressure> ?
Can you remove the Example column for now? They are pointing to test source code, which may not be the best examples for users to look at.
Add Segmentation camera sensor to the table

iche033 · 2025-04-01T17:40:59Z

README.md

+| **Air Pressure Sensor**   | [AirPressureSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirPressureSensor.html)        | [SDF Air Pressure](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_air_pressure)              | [air_pressure.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/air_pressure.cc)                | Measures atmospheric pressure                      |
+| **Air Speed Sensor**      | [AirSpeedSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirSpeedSensor.html)              | [SDF Air Speed](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_air_speed)                    | [air_speed.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/air_speed.cc)                      | Measures the speed of air relative to the sensor   |
+| **Altimeter**             | [AltimeterSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AltimeterSensor.html)            | [SDF Altimeter](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_altimeter)                    | [altimeter.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/altimeter.cc)                      | Measures altitude above a reference point          |
+| **Bounding Box Camera**   | [BoundingBoxCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1BoundingBoxCameraSensor.html) | [SDF Bounding Box Camera](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_boundingbox_camera) | [boundingbox_camera.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/boundingbox_camera.cc)    | Captures images with bounding box annotations      |


for the SDF Spec column, I noticed that not all links are not valid, e.g. http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_boundingbox_camera. That's because there may not be a dedicated SDF element for that sensor.

For boundingbox camera, segmentation camera, thermal camera, and wide angle camera types, you can point to <camera>: http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_camera

iche033 · 2025-04-01T17:43:05Z

README.md

+| **Sensor Name**           | **API Link**                                                                                                 | **SDF Spec**                                                                                      | **Example**                                                                                                           | **Notes**                                          |
+|---------------------------|-------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------|----------------------------------------------------|
+| **Air Pressure Sensor**   | [AirPressureSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirPressureSensor.html)        | [SDF Air Pressure](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_air_pressure)              | [air_pressure.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/air_pressure.cc)                | Measures atmospheric pressure                      |
+| **Air Speed Sensor**      | [AirSpeedSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirSpeedSensor.html)              | [SDF Air Speed](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_air_speed)                    | [air_speed.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/air_speed.cc)                      | Measures the speed of air relative to the sensor   |


air speed sensor is not available in sdf spec 1.9. Can you update all the SDF links to point to the latest 1.12 spec?

README.md

iche033 · 2025-04-01T18:11:16Z

README.md

+| **Depth Camera**          | [DepthCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1DepthCameraSensor.html)        | [SDF Depth Camera](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_depth_camera)              | [depth_camera.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/depth_camera.cc)                | Captures depth information                         |
+| **Doppler Velocity Log**  | [DopplerVelocityLog](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1DopplerVelocityLog.html)      | [SDF DVL](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_dvl)                                | [dvl.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/dvl.cc)                                  | Measures velocity relative to a water body         |
+| **Force-Torque**          | [ForceTorqueSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1ForceTorqueSensor.html)        | [SDF Force-Torque](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_force_torque)              | [force_torque.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/force_torque.cc)                | Measures forces and torques on a joint             |
+| **GPU Lidar**             | [GpuLidarSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1GpuLidarSensor.html)              | [SDF GPU Lidar](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_gpu_lidar)                    | [gpu_lidar_sensor.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/gpu_lidar_sensor.cc)                      | Simulates a 3D laser scanner using GPU acceleration|


update link:

Suggested change

| **GPU Lidar** | [GpuLidarSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1GpuLidarSensor.html) | [SDF GPU Lidar](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_gpu_lidar) | [gpu_lidar_sensor.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/gpu_lidar_sensor.cc) | Simulates a 3D laser scanner using GPU acceleration|

| **GPU Lidar** | [GpuLidarSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1GpuLidarSensor.html) | [SDF GPU Lidar](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_lidar) | [gpu_lidar_sensor.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/gpu_lidar_sensor.cc) | Simulates a 3D laser scanner using GPU acceleration|

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

…s: added Segmentation Camera

updated SDF links for Air Speed Sensor, Doppler Velocity Log, RGBD Camera Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

ganatrask · 2025-04-03T18:58:09Z

Thank you, @iche033 , for all the suggestions. I have made edits and updated the README. However, I was unable to find the SDF element links for the Air Speed Sensor, Doppler Velocity Log, and RGBD Camera. For now, I've marked them as "Not in SDF 1.12." Please let me know if any changes are needed.

iche033

just a couple minor comments, otherwise looks good!

iche033 · 2025-04-03T21:36:49Z

README.md

+| **Logical Camera**        | [LogicalCameraSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1LogicalCameraSensor.html)    | [`<logical_camera>`](http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_logical_camera)          | Detects models within a specified volume           |
+| **Magnetometer**          | [MagnetometerSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1MagnetometerSensor.html)      | [`<magnetometer>`](http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_magnetometer)              | Measures magnetic field strength and direction     |
+| **NavSat (GPS)**          | [NavSatSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1NavSatSensor.html)                  | [`<navsat>`](http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_navsat)                          | Simulates GPS-like positioning sensor              |
+| **RGBD Camera**           | [RGBDCameraSensor](https://gazebosim.org/api/sensors/7/classgz_1_1sensors_1_1RgbdCameraSensor.html)          | (Not in SDF 1.12) | Captures RGB + Depth streams                       |


for RGBD camera, can you also link to <camera>?

iche033 · 2025-04-03T21:37:36Z

README.md

+| **Sensor Name**           | **API Link**                                                                                                 | **SDF Element**                                                                                      | **Notes**                                          |
+|---------------------------|-------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------|----------------------------------------------------|
+| **Air Pressure Sensor**   | [AirPressureSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirPressureSensor.html)        | [`<air_pressure>`](http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_air_pressure)                | Measures atmospheric pressure                      |
+| **Air Speed Sensor**      | [AirSpeedSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1AirSpeedSensor.html)              | *(Not in SDF 1.12)*                                                                                    | Measures the speed of air relative to the sensor    |


can you put N/A instead of (Not in SDF 1.12) for this entry and also DVL?

Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

ganatrask · 2025-04-03T22:25:35Z

Ok, I just made an update.

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 · 2025-04-04T02:57:18Z

thanks for the contribution!

kscottz · 2025-04-04T23:03:06Z

@ganatrask Thanks so much!

Added list of supported sensors with API and SDF links

8f22742

ganatrask requested a review from iche033 as a code owner April 1, 2025 03:21

azeey added this to Core development Apr 1, 2025

github-project-automation bot moved this to Inbox in Core development Apr 1, 2025

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ganatrask mentioned this pull request Apr 1, 2025

List all available sensors on the README #103

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iche033 reviewed Apr 1, 2025

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ganatrask and others added 4 commits April 3, 2025 10:20

Updated README.md

dae9894

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

Updated README.md

61ef205

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

Update sensor list in README.md: use <element> tags and SDF 1.12 link…

59b8415

…s: added Segmentation Camera

Update README.md

53c2ced

updated SDF links for Air Speed Sensor, Doppler Velocity Log, RGBD Camera Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

iche033 reviewed Apr 3, 2025

View reviewed changes

Update SDF for Air Speed Sensor,Doppler Velocity Log and RGBD Camera

7b214d0

Signed-off-by: Shyam Ganatra <shyam2010ganatra@gmail.com>

rearrange order

b4c2f5a

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 approved these changes Apr 4, 2025

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iche033 enabled auto-merge (squash) April 4, 2025 02:57

iche033 merged commit a0b8c40 into gazebosim:gz-sensors9 Apr 4, 2025
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Add list of supported sensors with API and SDF links to README#511

Add list of supported sensors with API and SDF links to README#511
iche033 merged 7 commits intogazebosim:gz-sensors9from
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ganatrask commented Apr 1, 2025 •

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	\| GPU Lidar \| [GpuLidarSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1GpuLidarSensor.html) \| [SDF GPU Lidar](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_gpu_lidar) \| [gpu_lidar_sensor.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/gpu_lidar_sensor.cc) \| Simulates a 3D laser scanner using GPU acceleration\|
	\| GPU Lidar \| [GpuLidarSensor](https://gazebosim.org/api/sensors/9/classgz_1_1sensors_1_1GpuLidarSensor.html) \| [SDF GPU Lidar](http://sdformat.org/spec?ver=1.9&elem=sensor#sensor_lidar) \| [gpu_lidar_sensor.cc](https://github.com/gazebosim/gz-sensors/blob/main/test/integration/gpu_lidar_sensor.cc) \| Simulates a 3D laser scanner using GPU acceleration\|

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🎉 New feature

Summary

Test it

Checklist

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