How to install a sonar on a servo motor atop a UAV to get range from a target at a given angle?

asked 2019-12-09 03:18:07 -0600

Jaroan gravatar image

updated 2019-12-09 22:29:48 -0600

I want to install a sonar sensor on a servo motor so that I get the range values from the target at the desired angle? I want the sonar to be actuated by the servo motor. I would like to perform the simulation of the same on ROS Gazebo for the Iris Quadrotor model.

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This seems to be a more general question about physical robot hardware. Could you please elaborate how this relates to ROS?

mgruhler gravatar imagemgruhler ( 2019-12-09 04:21:07 -0600 )edit

I would like to perform the simulation of the same on ROS Gazebo for the Iris Quadrotor model

Jaroan gravatar imageJaroan ( 2019-12-09 22:29:33 -0600 )edit

So what exactly is the question w.r.t. ROS?

mgruhler gravatar imagemgruhler ( 2019-12-11 08:08:49 -0600 )edit

Is there any plugin for Gazebo that integrates the two devices, sonar and servo motor. If not, how should my approach be to create a new plugin for the same?

Jaroan gravatar imageJaroan ( 2019-12-12 00:08:26 -0600 )edit

AFAIR, there is no such plugin. You could either model it as two entities, a simple one-D range sensor on an articulated joint, or you write your own plugin, as you suggest. Writing a plugin is documented on the Gazebo wiki

mgruhler gravatar imagemgruhler ( 2019-12-12 03:24:45 -0600 )edit

Alright, thank you very much for your help!

Jaroan gravatar imageJaroan ( 2019-12-13 03:19:34 -0600 )edit