Support bumper sensors in Gazebo

Open sasilva1998 opened this issue 3 years ago • 1 comments

Description

Added the support for bumper sensor for each of the iRobot Create versions. The contact with the bumpers is checked according to the mesh of the corresponding bumper shape for each robot. For that I added a new arg version in create_description/urdf/create_base.urdf.xacro.
Unfortunately, since there is no plugin for Omni IR, could only add a the common IR from Gazebo which I hope is still of use.
Generated a package with a minimal example to simulate the different Create robot version. Also updated the Readme to specify how to run the simulation. Uses a world file from turtlebot3_gazebo.
Added the publish of transforms for the wheels.

This PR is connected to #76.

Test configuration ROS version: Noetic

Oct 03 '22 22:10 sasilva1998

Hi @jacobperron, sorry for the late response and thanks for your comments. I have made the recommended changes.

Oct 09 '22 23:10 sasilva1998

Thanks for the contribution!

May 09 '23 03:05 jacobperron