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Gazebo and Real world Contact Sensors.

asked 2015-03-03 07:22:53 -0500

LucianTM gravatar image

Hi,

I want to simulate a Service robot which features bumpers and also I want to build a real one. Now the question is, what topics to use? The Bumper plugin for Gazebo outputs a lot of information on the contact, but I only want to know if it is pressed or not. Also when it is in the Gazebo package, I guess it should be used for simulation only, right?

What topic shall I use for real sensors?

Bool?

And how to interface Gazebo? Do I have to write my own node to get the pressed state from the topic? Or is there somehing ready to use?

How do I interface this to already available ROS planing systems? Is there a common way to do this? Or do I have to add Obstacles to the costmap myself somehow, when a bumper is being pressed?

Thanks!

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answered 2015-03-03 08:40:32 -0500

dornhege gravatar image

I don't believe there are proper standards for this.

A good example might be the turtlbot's base, i.e. Kobuki. There is a bumper message and to get it into move_base, these are converted to point clouds: http://wiki.ros.org/kobuki_bumper2pc?...

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Hmm, think so too...

LucianTM gravatar imageLucianTM ( 2015-03-09 06:43:48 -0500 )edit

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Asked: 2015-03-03 07:22:53 -0500

Seen: 262 times

Last updated: Mar 03 '15