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Gazebo Laser Rangefinder <sensor> usage

asked 2016-10-17 06:03:39 -0500

ai-shwarya gravatar image

I'm working on a laser rangefinder that has an update rate of the order of ~10k and returns one sample. With the documentation provided by the manufacturers, I have the beam pattern chart and the beam divergence at different ranges. Had a word with them today and they were unable to really precisely predict the <min_angle> and <max_angle>.

But I've noticed that when I simulate with 1 sample on Gazebo, the beam does not diverge from the <min_angle> specified. What is the function of <resolution> in that case? And how much should I be setting it for the beam to diverge in Gazebo? http://sdformat.org/spec?ver=1.6&elem... is the documentation.</resolution></min_angle>

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answered 2016-10-17 16:32:05 -0500

lucasw gravatar image

You might want to try sonar instead- I believe the laser samples are infinitely thin rays, while the sonar is modeled as a cone. (gazebo ros doesn't support sonar yet though?)

Otherwise you could use the laser sensor type, generate multiple samples that spread out as desired, but then have another node take the minimum of all the rays to output a single range value (The gazebo SonarSensor is doing a collision with a cone, which is less likely to miss anything). From the documentation it looks like setting resolution to 1/samples would accomplish averaging.

Also check out http://answers.gazebosim.org .

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Asked: 2016-10-17 06:03:39 -0500

Seen: 541 times

Last updated: Oct 17 '16