The fiducial model simulates a fiducial-detecting device.
- Summary and default values
# fiducial properties
# model properties
size [ 0.1 0.1 0.1 ]
- range_min <float>
the minimum range reported by the sensor, in meters. The sensor will detect objects closer than this, but report their range as the minimum.
- range_max <float>
the maximum range at which the sensor can detect a fiducial, in meters. The sensor may not be able to uinquely identify the fiducial, depending on the value of range_max_id.
- range_max_id <float>
the maximum range at which the sensor can detect the ID of a fiducial, in meters.
- fov <float> the angular field of view of the scanner, in radians.
- ignore_zloc <1/0>
default is 0. When set to 1, the fiducial finder ignores the z component when checking a fiducial. Using the default behaviour, a short object would not been seen by a fiducial finder placed on top of a tall robot. With this flag set to 1, the fiducial finder will see the shorter robot.