Project Chrono: Chrono SENSOR module tutorials

Chrono SENSOR module tutorials

The Chrono distribution contains several demos for modeling and simulating sensors for robots and autonomous vehicles with the SENSOR module.

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 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 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