Rotating ray sensor (SDF)

asked 2015-10-20 03:40:37 -0600

alf gravatar image

Hi,

I'm trying to model a rotating ray sensor, preferably in a purely kinematic way. What I want is a ray sensor rotating with a constant rotational velocity relative to a fixed body frame (around 1 Hz). I.e. I want the net rotational velocity of the sensor (relative to a fixed world frame) to be a sum of its own rotational velocity and the body rotational velocity.

Anyone have any suggestions or examples of how/if this can be done in SDF?

This is my model so far: https://gist.github.com/anlif/433a318...

It kind of works by applying a torque to the link, but I would like a simpler way of specifying the rotational velocity. Preferably without having to use stuff like ROS controllers.

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Comments

any progress on this?

l0g1x gravatar imagel0g1x ( 2015-12-28 16:10:01 -0600 )edit

Nope, I have not really spent any more time working on it. I've settled on trying to use a ray sensor with a full 360 degree FOV and low update rate for now.

alf gravatar imagealf ( 2016-01-14 04:01:57 -0600 )edit