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Getting distance from model to nearest object

asked 2018-01-04 10:04:57 -0500

Pi Robot gravatar image

updated 2018-01-04 10:06:10 -0500

Hello,

I am running Gazebo 2.3 under ROS Indigo and Ubuntu 14.04. I have a "walking person" model in my Gazebo world that I am moving around using a Python script and publishing new positions to the /gazebo/model_states topic.

My question is: is there any way either through the Gazebo API or through a ROS service or topic to get the distance between the person model and the nearest object in the rest of the world?

I can also use Gazebo 7 if that makes a difference.

Thanks!
patrick

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answered 2018-01-08 05:32:31 -0500

Carlos Agüero gravatar image

Not directly. The easiest way to do it would be to iterate through the list of models in the world and check the distance with your person model.

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Yeah, we thought we might do that but then it was not clear how to get the nearest distance to a mesh that represents an entire office (for example). So instead we attached a lidar to the person model and now we can just use the lidar range values to get the nearest object. :)

Pi Robot gravatar imagePi Robot ( 2018-01-10 08:50:13 -0500 )edit
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Asked: 2018-01-04 10:04:57 -0500

Seen: 85 times

Last updated: Jan 08