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DRC Laser / Stereo Disparity between Collision and Visual Elements

It is fantastic to have DRCSIM 2.0 and Gazebo 1.4, thanks! Obviously a huge part of the DRC competition is rectifying data between stereo and laser, but these produce differing results. Robots can only interact with collision boundaries based on objects; if it can't collide it can't affect.

The disparity is that the /multisense_sl/camera/points2 data produces point clouds based on visual elements, while /multisense_sl/laser/scan produces point clouds based on collision boundaries.

Visual data is not useful if it doesn't lead to a means of interaction.

Link to Laser data of collision boundaries of DRC_vehicle