Server Example: Sensor Suite

Overview

Demonstrates the RGB camera, depth camera, IMU, and LiDAR sensors on ANYmal, including depth-to-point-cloud conversion and point-cloud visualization. It is the main reference for the sensor APIs; see Sensors.

Screenshot

Target

CMake target: sensor_suite. The source is examples/src/server/sensor_suite.cpp.

Run

Start the viewer, then run the build-tree example:

# Terminal 1
./build-examples/examples/rayrai_tcp_viewer

# Terminal 2
./build-examples/examples/sensor_suite

On Windows, run sensor_suite.exe instead. The example uses RaisimServer on port 8080.

Details

• Loads anymal_c/urdf/anymal_sensored.urdf, which carries front and rear RGB/depth cameras, an IMU, and a spinning LiDAR.
• Configures the RGB and depth cameras with MeasurementSource::MANUAL. The TCP viewer renders these camera frames on request, returns BGRA and metric depth buffers to RaisimServer, and shows previews in the Sensors tab of the selected ANYmal. The source includes a commented-out line that switches the front depth camera to RaiSim CPU depth.
• Select the ANYmal, open Sensors, and use Show frustum to inspect the camera pose and range in the main scene.
• Converts the front depth array to 3D points with DepthCamera::depthToPointCloud and reads the LiDAR scan.
• Streams the latest LiDAR scan as a point cloud and two marker spheres through RaisimServer.