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Accurate bumper simulation

asked 2014-05-08 14:00:52 -0500

tulku gravatar image

Hi!

I'm trying to simulate a bumper as 'real' as possible. I would like to have the 3D model of the bumper move when it bumps into an object and then measure the position or even have a switch inside the bumper to trigger a message with the bumper information.

Is this possible? Is there a special type of joint that I should use? I want to use ROS, so I can't use the latests Gazebo versions.

Any help is appreciated!

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answered 2014-05-08 22:49:26 -0500

peshala gravatar image

updated 2016-07-14 18:06:33 -0500

yah130s gravatar image

Hi

You can use the ros bumper plugin: link

An example at link text

Hope it helps!

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Thank you very much for your answer! I'm having the same problem as Gxav. I get an empty state message.

tulku gravatar imagetulku ( 2014-05-12 11:57:39 -0500 )edit
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answered 2014-05-09 15:36:03 -0500

nkoenig gravatar image

You could attach the bumper to the robot base using a slider joint. The bumper will move, and you could measure the motion using a model plugin.

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Thank you! I'll try to get the simple bumper working first and then change it to use the slider joint, which looks like what I wanted to do.

tulku gravatar imagetulku ( 2014-05-12 12:02:10 -0500 )edit
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Asked: 2014-05-08 14:00:52 -0500

Seen: 979 times

Last updated: Jul 14 '16