Range sensor layer not adding costs

asked 2022-02-22 03:19:31 -0500

atacanasln gravatar image

Hi, I am having problems with the range sensor, I am trying to use a sensor that is tilted 30 degrees and facing the ground, but the costs not seem to be added until the object is very very close, while the not tilted ones can add cost with the object just touching the edge. I use these;

     <sonar_sensor
     descriptor="sonarb3"
      parent="base_link"
      tx="0.145" ty="0.369" tz="0.637"
      rr="0.0" rp="0.523598776" ry="1.30899694"
      />

and plugin is;

      <ray>
     <scan>
        <horizontal>
           <samples>5</samples>
           <resolution>1</resolution> 
           <min_angle>-0.131118881</min_angle>
           <max_angle>0.131118881</max_angle>
        </horizontal>
        <vertical>
           <samples>5</samples>
           <resolution>1</resolution> 
           <min_angle>-0.131118881</min_angle>
           <max_angle>0.131118881</max_angle>
        </vertical>
     </scan>
     <range>
        <min>0.02</min>
        <max>1</max>
        <resolution>0.02</resolution>
     </range>
  </ray>
  <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
     <gaussianNoise>0.005</gaussianNoise>
     <alwaysOn>true</alwaysOn>
     <updateRate>50</updateRate>
     <topicName>/sonar_sensors/${descriptor}</topicName>
     <frameName>${descriptor}</frameName>
     <radiation>INFRARED</radiation>
     <fov>0.2967</fov>
  </plugin>
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Comments

Hi,

Can you maybe provide some screenshots depicting the scenario ? I do not understand from the description

Sid05 gravatar image Sid05  ( 2022-06-21 06:15:45 -0500 )edit