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Import point cloud from a rosnode into gazebo

asked 2016-03-29 09:19:21 -0500

rosGSCOP gravatar image

Hi. I am new to Gazebo. As far as I am concerned, we can import .urdf file etc to Gazebo. However, what I want to do is to import my point cloud from ROS sensor_msgs::PointCloud in Gazebo. I have looked for tutorials online but I don't really find a tuto that allows me to import my point cloud into Gazebo. Does anyone know any online tuto importing and manipulating point clouds in Gazebo. Any suggestion is welcomed.
Thanks in advance.

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answered 2016-03-29 11:42:47 -0500

nkoenig gravatar image

I don't believe there is a bridge from ROS messages to Gazebo messages, or a Gazebo plugin that would solve your problem. I haven't done a deep search on the topic though.

You could write a Gazebo plugin that listens on a ROS topic which publishes sensor_msgs::PointCloud. If you make a VisualPlugin in Gazebo, you could then visualize the point cloud.

http://gazebosim.org/tutorials?cat=wr...

Example gazebo plugins that interface to ROS.

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Hi. Thank you. So, there 's no communication between ROS messages to Gazebo that I will have to write a plugin myself. I still have one question: Does Gazebo only take .urdf file or .dae file (mesh file) as input? Is there other input we can import into Gazebo?

rosGSCOP gravatar imagerosGSCOP ( 2016-03-29 15:38:22 -0500 )edit
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Asked: 2016-03-29 09:19:21 -0500

Seen: 1,085 times

Last updated: Mar 29 '16