Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

Sensors colliding with collision box

Hi! I am having a problem with ray sensors and the collision box of the robot.

For instance, using the sonar plugin recently included:

        <sensor type="ray" name="sonar_${name}">
            <pose>${xyz} ${rpy}</pose>
            <plugin name="sonar_${name}_plugin" filename="">

I get the problem that when the robot is moving fastly in the direction of the sonar, I get measurements corresponding to detecting the own collision mesh of the robot (even if the sensor is outside of the collision mesh). Using the Hokuyo simulation I get the same problem (at the end, they both are ray sensors.

Does anybody know how to overcome this problem?