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How can I access the bumper sensors on a turtlebot in a simulation?

asked 2015-12-21 18:40:45 -0500

aek gravatar image

I've been working on a project, and I need to turn a certain direction when a turtlebot bumps into something. I'm looking for a ROS plugin to use in a simulation in Gazebo. I can't seem to find anything in any turtlebot repositories or on the ROS wiki.

Thank you.

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answered 2017-02-01 05:24:39 -0500

fmrico gravatar image

Maybe there is something wrong or broken. I am also having problems to reading bumper events when using kobuki in Gazebo. It's like the kobuki plugin for gazebo is not publishing bumper events.

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answered 2016-01-21 12:48:52 -0500

jorge gravatar image

updated 2016-01-21 12:50:07 -0500

If you are simulating a Turtlebot2, the kobuki base gazebo plugin provides bumper / cliff sensor events as kobuki_msgs::BumperEvent / kobuki_msgs::CliffEvent messages in the /mobile_base/events/bumper and /mobile_base/events/cliff topics. No idea about the Create plugin, however.

On the real robot, bumper/cliff events are also republished as a pointcloud, so can be integrated on move_base's costmaps, but this doesn't work on simulation jet (I'll make it, if I ever find the time)

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Asked: 2015-12-21 18:40:45 -0500

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Last updated: Feb 01 '17