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I found the way to insert them inside Citadel. Since there is no official plugin for ultrasonic or infrared sensor. I will be more than happy to share on here for anyone in future!

Ultrasonic: This is being used as in lidar. It is included the setting of ultrasonic. Here is what I wrote:

  <sensor name='gpu_lidar' type='gpu_lidar'>
      <always_on>1</always_on>
      <visualize>true</visualize>
      <topic>ultrasonic</topic>
      <update_rate>10</update_rate>
      <lidar>
          <scan>
              <vertical>
                <samples>5</samples>
                <resolution>1</resolution>
                <min_angle>0.00</min_angle>
                <max_angle>0.25</max_angle>
              </vertical>
          </scan>
      <range>
        <min>0.120000</min>
        <max>4</max>
        <resolution>0.015000</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
    </lidar>

Which this will results as one "cone" acting like ultrasonic.

Use sensor_msgs/msg/range to get the range in ros2 foxy (i don't know about ros1 since I joined ros2 only)

Infrared sensor: This is one of the most fun challenge ever I had! Since there is no official plugin for infrared sensor, I used the alternative plugin called Depth camera which is display on github

Since depth camera code in sdf is a little too long. Here is the code in github! It's open source as well! Feel free to explore as well since there will be a lot of documents involves Foxy (ros2) and Citadel (LTS atm)

I'm going to mark this as my official answer since it solved my issue.

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Feel free to message me with questions if you have even if you are in 2023 or 2026 :P