ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org
Ask Your Question
0

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.

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
0

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)

edit flag offensive delete link more
0

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

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

Seen: 1,327 times

Last updated: Feb 01 '17