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Is there a Gazebo plugin that simulates sonar and infrared sensors?

asked 2014-01-26 13:25:49 -0600

joq gravatar image

We are adding sonar and IR sensors to a robot. It makes sense to include them in the Gazebo simulation.

In ROS, those devices use the sensor_msgs/Range message.

I have not yet found any existing plugin for those kinds of devices. It does not seem terribly difficult to write one, but I want to avoid working on a problem that might already have been solved.

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answered 2014-01-30 05:03:09 -0600

Adolfo Rodríguez T gravatar image

We are using the GazeboRosRange class available in the pal_gazebo_plugins repo. If you find it useful, we could maybe consider moving it upstream.

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Thanks! I'll give that a try, probably within the next week or so, and let you know how well it works with our segbots. Surely, there are enough potential users to justify inclusion in some standard gazebo sensor package.

joq gravatar imagejoq ( 2014-02-02 10:10:51 -0600 )edit

Thanks, seems like a good addition. I've created an issue https://github.com/ros-simulation/gazebo_ros_pkgs/issues/162

hsu gravatar imagehsu ( 2014-02-07 12:51:45 -0600 )edit

"If you find it useful, we could maybe consider moving it upstream." We do. Will follow up on the github issue.

bit-pirate gravatar imagebit-pirate ( 2015-04-07 05:04:02 -0600 )edit

"If you find it useful, we could maybe consider moving it upstream."

bit-pirate gravatar imagebit-pirate ( 2015-04-07 05:04:19 -0600 )edit

It is now in the process of moving upstream. https://github.com/ros-simulation/gazeborospkgs/pull/335

Bence Magyar gravatar imageBence Magyar ( 2015-08-13 04:30:34 -0600 )edit
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answered 2016-02-12 04:26:16 -0600

carlos.tubio gravatar image

Hello,

I am trying to simulate ultrasound sensor in gazebo. I have found in the gazebo_pkg the gazebo_range plugging. This pluging supplies the radiation type field to be able to set ultrasound as a emission type. But I wonder whether the behaviour in the simulation is realistic or not . It is well-knowne that when the ultrasound sensor cone hits against a surface and this one is not perpendicular some problems to get the reflected energy appears. Usually ultrasounds that hit against a plate set up with 45º degrees don't see the surface. So and in summary my question are:

Has the pluging implemented this behaviour?

If the answer is not. How difficult would it be to implement it?

Thans a lot.

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This sounds like a new question, rather than an answer.

chapulina gravatar imagechapulina ( 2016-02-16 17:20:18 -0600 )edit
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Asked: 2014-01-26 13:25:49 -0600

Seen: 5,609 times

Last updated: Jan 30 '14