updateSensors

Update sensor readings in robot scenario

Since R2022a

Syntax

updateSensors(scenario)

Description

updateSensors(scenario) updates all sensor readings based on latest states of all platforms in the robot scenario, scenario.

Examples

Create and Simulate Robot Scenario

Create a robot scenario.

scenario = robotScenario(UpdateRate=100,StopTime=1);

Add the ground plane and a box as meshes.

addMesh(scenario,"Plane",Size=[3 3],Color=[0.7 0.7 0.7]);
addMesh(scenario,"Box",Size=[0.5 0.5 0.5],Position=[0 0 0.25], ...
        Color=[0 1 0])

Create a waypoint trajectory for the robot platform using an ENU reference frame.

waypoint = [0 -1 0; 1 0 0; -1 1 0; 0 -1 0];
toa = linspace(0,1,length(waypoint));
traj = waypointTrajectory("Waypoints",waypoint, ...
                          "TimeOfArrival",toa, ...
                          "ReferenceFrame","ENU");

Create a rigidBodyTree object of the TurtleBot 3 Waffle Pi robot with loadrobot.

robotRBT = loadrobot("robotisTurtleBot3WafflePi");

Create a robot platform with trajectory.

platform = robotPlatform("TurtleBot",scenario, ...
                         BaseTrajectory=traj);

Set up platform mesh with the rigidBodyTree object.

updateMesh(platform,"RigidBodyTree",Object=robotRBT)

Create an INS sensor object and attach the sensor to the platform.

ins = robotSensor("INS",platform,insSensor("RollAccuracy",0), ...
                  UpdateRate=scenario.UpdateRate);

Visualize the scenario.

[ax,plotFrames] = show3D(scenario);
axis equal
hold on

In a loop, step through the trajectory to output the position, orientation, velocity, acceleration, and angular velocity.

count = 1;
while ~isDone(traj)
    [Position(count,:),Orientation(count,:),Velocity(count,:), ...
     Acceleration(count,:),AngularVelocity(count,:)] = traj();
    count = count+1;
end

Create a line plot for the trajectory. First create the plot with plot3, then manually modify the data source properties of the plot. This improves the performance of the plotting.

trajPlot = plot3(nan,nan,nan,"Color",[1 1 1],"LineWidth",2);
trajPlot.XDataSource = "Position(:,1)";
trajPlot.YDataSource = "Position(:,2)";
trajPlot.ZDataSource = "Position(:,3)";

Set up the simulation. Then, iterate through the positions and show the scene each time the INS sensor updates. Advance the scene, move the robot platform, and update the sensors.

setup(scenario)
for idx = 1:count-1
    % Read sensor readings.
    [isUpdated,insTimestamp(idx,1),sensorReadings(idx)] = read(ins);
    if isUpdated
        % Use fast update to move platform visualization frames.
        show3D(scenario,FastUpdate=true,Parent=ax);
        % Refresh all plot data and visualize.
        refreshdata
        drawnow limitrate
    end
    % Advance scenario simulation time.
    advance(scenario);
    % Update all sensors in the scene.
    updateSensors(scenario)
end
hold off

Input Arguments

scenario — Robot scenario

robotScenario object

Robot scenario, specified as a robotScenario object.

Version History

Introduced in R2022a