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Adding sonar in Gazebo and Ros

asked 2020-09-30 07:03:45 -0500

jenanaputra gravatar image

updated 2022-06-05 11:42:00 -0500

lucasw gravatar image

I wanna do a simulation for my project relating collision avoidance. I want to use sonar to do simulation in gazebo + ros. How can I add a sonar sensor to my gazebo for simulation need ?

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answered 2020-10-02 04:45:11 -0500

Weasfas gravatar image

Hi @jenanaputra,

To add a (sonar) sensor to a model, you just need to attach the sensor link to you main model link and instantiate the sonar plugin to produce readings. hector_sensors_descriptionpackage have already implemented a sonar sensor model with its own plugin, you can check here. If you have doubts about Xacro or URDF you can check this and this links

Wih that Xacro macro you can instantiate the sonar sensor and attach it to the model providing the proper parent link name. E.g.: base_link. Once attached when you launch the simulation you will be able to see it working. If you have doubts about sensor or plugin on Gazebo you can check this link and this.

Hope this helps you.


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Asked: 2020-09-30 07:03:45 -0500

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Last updated: Oct 02 '20