Running sensors in simulation

asked 2012-10-17 05:37:36 -0500

ChengXiang
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Hi. I am a new user to ROS and have some questions regarding the use of sensors in simulation.

I undrstand that in order to simulate a sensors, you need to write the gazebo extension for it in the robot's URDF file My doubts are mainly about the elements in the gazebo's extension block.

First of all, am I right to said that the controllers are what that operate the sensors in gazebo? So do I need to install drivers for sensors at all?

To use the controller, you need to choose the correct plugins, but where do we download the plugins from? The sensor's wiki page?

Lastly, how do we know what to include in the elements within the <controller> element? So far what I did is just refer the code block from robots like turtlebot without understanding what each part is for.

I checked this website, but it is still work in process.

Thank you.Pardon me if my questions sounds amatuerish.

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answered 2012-10-18 15:46:15 -0500

SL Remy
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The answer (from answers.ros) included here for completeness.

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answered 2012-10-19 15:24:48 -0500

Sameer Parekh
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Hello, here's what I know:

a) You can write a plugin that is either a "controller" or a "sensor" in order to create a sensor plugin. For example gazebo_ros_imu in hector_gazebo_plugins is a controller but gazebo_ros_sonar is a "sensor"

b) There may not be a gazebo plugin for the sensor you'd like to use. You may have to write your own plugin.

c) The best way to learn what to include is to look at the source code for the sensor plugin and also an example invocation of the sensor. For example in hector_quadrotor_controller/urdf/quadrotor_sensors.urdf.xacro you can see how to invoke the sensors implemented in hector_gazebo_plugins

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Thank you Sameer. I think I have to learn by studying the examples. In addition, the answer from answer.ros also answer my queries.

ChengXiang ( 2012-10-29 21:29:38 -0500 )edit

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