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Naive object recognition based on laser sensor

asked 2012-11-02 04:58:43 -0500

ercarrion43 gravatar image

Hello, I want to use the RaySensor plugin to get the id of the nearest object each ray intersect (instead of the range). I saw the GetFiducial() function, but don't know if it provides this information, could anybody tell me?.

If not, I've seen that the RayShape class has a GetIntersection() function, which I think that returns the information I need. But it would be grand not to have to build a new RaySensor based of RayShape.

Before I discovered this Gazebo forum I posed this same question in the ros answers forum:

link text

, but I think that it fix better here, that's why I'm repetting it.

Thanks in advance!

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answered 2012-11-07 12:41:00 -0500

nkoenig gravatar image

The laser fiducial interface needs to be fixed. I have create a ticket for it https://bitbucket.org/osrf/gazebo/issue/217/laser-fiducial-broken

You can set the retro value for a collision object, and read that back from the laser data. SDF: http://gazebosim.org/sdf/1.2.html#laser_retro

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Asked: 2012-11-02 04:58:43 -0500

Seen: 420 times

Last updated: Nov 07 '12