RFIDSensor Implementation

rfid
rfidtag

asked 2014-05-02 23:24:10 -0500

Soyuz
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updated 2014-05-05 04:21:49 -0500

Hello folks,

I'm trying to build-up a variant of SLAM that includes RFID localization. Thus, I'm in need of an RFID sensor that can interface with ROS. I've noticed that there's no gazeborospkgs for such a sensor, but there's both an RFIDSensor.cc and an RFIDSensor.hh under gazebo's sensors example folder. However, I don't know to use them exactly.

Are they complete and only need building to generate the .so ? If so, could you kindly specify the steps as I'm still quite new to the concepts.

Thanks and cheers !

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answered 2014-05-08 11:26:50 -0500

Soyuz
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Thank you for the precisions, they were helpful. However, I have no prior c++ knowledge so it's not that easy for me. I did tinker around with the code and come around with attached files. Can you please have a look at them and give some corrections and more directions ?

Thank you !

GazeboRosRfid.cpp : http://pastebin.com/DwkYhyZy

GazeboRosRfid.h : http://pastebin.com/btPgk2d4

GazeboRosRfidTag.cpp : http://pastebin.com/vxcvjPF1

GazeboRosRfidTag.h : http://pastebin.com/iC5Q1hy6

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@Soyuz please edit your original question with updated information or use comments.Your RFID plugin suggestion is interesting. Did you manage to get it to work?

This might be of interest to you @Ahsan.

isura ( 2014-05-10 13:17:35 -0500 )edit

@Soyuz please edit your original question with updated information or use comments. Your RFID plugin suggestion is interesting. Did you manage to get it to work?

isura ( 2014-05-10 13:17:48 -0500 )edit

@Soyuz please edit your original question with updated information or use comments. Your RFID plugin suggestion is interesting. Did you manage to get it to work?

isura ( 2014-05-10 13:18:03 -0500 )edit

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answered 2014-05-06 03:06:43 -0500

Francisco
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It seems that there isn't a plugin to interface gazebo::sensors::RFIDSensor with ROS.

In any case, it may be fairly easy to implement such plugin. Take as example the gazebo_ros_bumper plugin (.cpp and .h). This plugin interfaces gazebo::sensors::ContactSensor with ROS.

Just in case here you can find the list of gazebo sensors and in this wiki you can find the list of gazebo-ros plugins.

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