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Read sensor data with ROS

asked 2018-09-10 09:55:44 -0600

VansFannel gravatar image

I've just started to learn ROS and Gazebo and now, finally, I can connect ROS with Gazebo (I control a robot in Gazebo with keyboard using turtlesim turtle_teleop_key.

Now I want to add some sensors to my robot and read the data from ROS. How can I do it? Do I need to code a Gazebo plugin?

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answered 2018-09-12 09:15:57 -0600

Now I want to add some sensors to my robot and read the data from ROS. How can I do it? Do I need to code a Gazebo plugin?

To extract data from Gazebo, you have three options:

  1. Use a pre-existing Gazebo Plugin/Sensor that publishes the data to ROS
  2. Use a pre-existing Gazebo Plugin or Sensor that publishes the data to the Gazebo Transport Layer. You'll have to access this data (e.g. from a ROS Node) via the Gazebo Transport Library.
  3. Write your own custom Gazebo Plugin that publishes sensor data using either of the above methods.
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Asked: 2018-09-10 09:55:44 -0600

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Last updated: Sep 12