Gazebo | Ignition | Community

Attention: answers.gazebosim.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Getting distance from model to nearest object

api
distance

asked 2018-01-04 10:04:57 -0500

Pi Robot
7 ●5 ●6 ●7

updated 2018-01-04 10:06:10 -0500

Hello,

I am running Gazebo 2.3 under ROS Indigo and Ubuntu 14.04. I have a "walking person" model in my Gazebo world that I am moving around using a Python script and publishing new positions to the /gazebo/model_states topic.

My question is: is there any way either through the Gazebo API or through a ROS service or topic to get the distance between the person model and the nearest object in the rest of the world?

I can also use Gazebo 7 if that makes a difference.

Thanks!
patrick

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2018-01-08 05:32:31 -0500

Carlos Agüero
626 ●4 ●9

Not directly. The easiest way to do it would be to iterate through the list of models in the world and check the distance with your person model.

edit flag offensive delete link

Comments

Yeah, we thought we might do that but then it was not clear how to get the nearest distance to a mesh that represents an entire office (for example). So instead we attached a lidar to the person model and now we can just use the lidar range values to get the nearest object. :)

Pi Robot ( 2018-01-10 08:50:13 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2018-01-04 10:04:57 -0500

Seen: 550 times

Last updated: Jan 08 '18

Getting distance from model to nearest object edit

1 Answer

Comments

Question Tools

Stats

Related questions

Getting distance from model to nearest object