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Ray sensors colliding with robot collision mesh

asked 2015-10-19 04:52:45 -0500

I know this belongs to Gazebo Answers, but it is not working to me.

I have found a problem when my robot is moving fast, the Gazebo ray sensors (range finder or sonar simulation) collides with the collision mesh in some iterations and thus the measurements are sometimes incorrect.

Does anybody else had this problem? Do you guys know how to solve it? Thanks!

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answers.gazebosim.org/questions doesn't open for you?

gvdhoorn gravatar image gvdhoorn  ( 2015-10-19 05:01:45 -0500 )edit

@gvdhoorn usually it does (although it is down very frequently) but sometimes I cannot login. Today I can do both, but I spent like 30 minutes properly writing the question and then it is not saved when I click post. It happened twice :(

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-10-19 05:19:36 -0500 )edit

Perhaps you could report this to the OSRF/Gazebo people? If you don't complain, they won't know about it.

gvdhoorn gravatar image gvdhoorn  ( 2015-10-19 05:32:11 -0500 )edit

I will do it of course, but I thought it was just me and I want to be sure if that was happening to somebody else :)

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-10-19 05:50:50 -0500 )edit

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answered 2015-10-19 05:38:04 -0500

Provided you can provide a detailed bug report (preferably with some instructions for reproduction), it would make sense to open a ticket on the Gazebo Bitbucket issue tracker.

I didn't notice this problem so far. I noticed other issues with Sensors in newer Gazebo versions as described here however (probably not related, but maybe).

It sounds a lot like your issue is related to Gazebo internals, so properly solving it would require some changes in source code. A quick hack for fixing it could be moving the sensor and collision geometry a bit further apart from each other. As sonar sensors are quite noisy and partly unreliable in the real world, you could also consider the erroneous data a feature :D.

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I agree with that sonar sensors are noisy, but they do not go from maximum to minimum value suddenly (at least in my experience). And yes, seems to be Gazebo internal issue. I can solve it partially improving the plugin, but sounds like a huge Gazebo issue. Thanks for the info by the way!

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-10-19 05:53:37 -0500 )edit

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Asked: 2015-10-19 04:52:45 -0500

Seen: 143 times

Last updated: Oct 19 '15