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Support IR Omni and bumper sensors in Gazebo

Open Interaze opened this issue 5 years ago • 3 comments

Put simply, it lists that the ir sensors are supported with this repo, but I'm unable to see it as a topic in ros with gazebo and the create_2.launch file, is this feature only for runtime instead of gazebo?

Interaze avatar Nov 28 '20 19:11 Interaze

Only the omni IR sensor is supported, and this referring to the real robot driver. Note, this is a passive sensor (not a range finder). To get an equivalent sensor in a Gazebo simulation, we should modify the simulation description with an appropriate plugin. I'm not sure if there exists a plugin for this type of fiducial sensor.

jacobperron avatar Dec 01 '20 21:12 jacobperron

Thankyou for the reply, would it be possible to get help to work on some of this? I'm willing to help out as much as I can, but I have little experience with developing urdf or sdf models. I think if we could get the bumper working for the model it would really make a difference.

Interaze avatar Dec 05 '20 19:12 Interaze

@Interaze I don't have much time to dedicate, but it does look like gazebo_ros supports bumper sensors. You could try adapting that example, adding it to the create gazebo description file.

jacobperron avatar Dec 07 '20 19:12 jacobperron