Chrono SENSOR module tutorials

The Chrono distribution contains several demos for modeling and simulating sensors for robots and autonomous vehicles with the [SENSOR module](@ref sensor).

Chrono::Sensor provides support for:

• RGB mono Camera

• Lidar

• Radar

• GPS

• IMU (accelerometer, gyroscope, magnetometer)

• Tachometer

These are parameterized models of sensors commonly used in robotic and autonomous vehicle systems.

In addition to the main library, the SENSOR module also creates a library of pre-defined [SENSOR models](@ref sensor_overview) which currently contains:

• Generic Camera

• Lidar

  • Generic lidar

  • Velodyne VLP-16 (Puck)

  • Velodyne HDL-32E

• Generic GPS

• Generic IMUs

Select sensor demos:

• Basic Sensor Demos

  • demo_SEN_Camera - example camera sensors with custom filters

  • demo_SEN_Lidar - example lidar sensor with custom filters

  • demo_SEN_GPSIMU - example using a GPS and IMU on a pendulum

  • demo_SEN_tachometer - example use of a tachometer to measure body's rotational speed

  • demo_SEN_JSON - example use of sensors through JSON interface

• Vehicle and Sensors (require Chrono::Vehicle and Chrono::Irrlicht)

  • demo_SEN_Gator - example vehicle equipped with sensors

  • demo_SEN_HMMWV - example HMMWV equipped with sensors

  • demo_SEN_deformableSoil - example sensing on deformable terrain

• Sensors with TensorRT (requies CH_USE_TENSOR_RT=ON in cmake)

  • demo_SEN_NNCamera - example for using a camera with a filter based on a neural net with inference through TensorRT

  • demo_SRN_rl_infer - example using sensor with neural net to perform driving using reinforcement learning