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how to change range_max from default turtlebot3 distance sensor?

asked 2019-03-03 17:58:24 -0500

jesus gravatar image

updated 2019-03-03 18:30:50 -0500

Hello, I am having issues trying to change the turtlebot3 (waffle) default distance sensor parameters. Specifically, I am trying to change the range_max parameter to a different value. I have tried to do that by looking into several config files but it seems like I have not found the correct one yet. Do you know which would be the correct config file to modify the below parameters?

When I type the following command, I get the parameters listed below (with no change on range_max parameter when I tried to modify config files):

$rostopic echo /scan

  seq: 2684
secs: 537
nsecs: 486000000
frame_id: "base_scan"
angle_min: 0.0
angle_max: 6.28318977356
angle_increment: 0.0175019223243
time_increment: 0.0
scan_time: 0.0
range_min: 0.119999997318
range_max: 3.5

I am using turtlebot3 (waffle) in Gazebo/RViz with Kinetic on Ubuntu 16.04

Thank you.

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answered 2019-03-03 19:34:24 -0500

updated 2019-03-03 19:35:37 -0500

If you are using turtlebot3 Waffle in Gazebo, then the scan topic is published by gazebo (there is no real laser, it is a simulation created by gazebo). Therefore you will need to be looking at the URDF files loaded by the simulator to find the parameter.

If I am not mistaken you should find it inside the file turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro

You can see it in the github repo:

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Awesome, I was able to find the .xacro file to configure those parameters. Do you know if you can add sensor noise within that file? I see there is a row for <noise> but I am not sure if you can actually simulate noise from there...

Thank you!

jesus gravatar image jesus  ( 2019-03-03 19:43:50 -0500 )edit

Yes, you can add simulated noise by playing around with the <noise> parameters. The specification is here:</noise>

Martin Peris gravatar image Martin Peris  ( 2019-03-03 19:56:06 -0500 )edit

Awesome! Thanks so much for the help.

jesus gravatar image jesus  ( 2019-03-03 20:03:37 -0500 )edit

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Asked: 2019-03-03 17:58:24 -0500

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Last updated: Mar 03 '19