Simulating a Structured Light Sensor in Gazebo

asked 2017-06-14 15:34:21 -0500


I am in the process of working on a system that will end up using a structured light sensor similar to the one being depicted in the image below, and I was wondering what the best way to simulate this sensor in Gazebo was/if it already has been.

One idea was to take two depth camera's and AND their pointclouds together, that way if one of the cameras were obstructed or part of either's FOV was obstructed, it would cast a shadow.

Looking for input and help to ensure we have as realistic of a simulation as possible.

Thanks in advance!

image description

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I'm tempted to close this and ask you to repost over at, as this is really more a Gazebo-specific question. ROS interfacing can be done after the initial simulation is figured out.

Could you close if you agree? And please post a link to your Gazebo Answers question, thanks.

gvdhoorn gravatar image gvdhoorn  ( 2017-06-15 05:00:01 -0500 )edit

I understand. I've posted on Gazebo Answers. I just posted it here in hopes to get some more eyes looking and hopefully giving insight on how to model this.

atomoclast gravatar image atomoclast  ( 2017-06-15 09:26:08 -0500 )edit

Can you add the link to the gazebo answers question?

lucasw gravatar image lucasw  ( 2017-06-15 12:14:39 -0500 )edit