Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Ray Sensor sometimes returns random values.


I am having trouble with getting consistent and deterministic sensor data.

I have been slowly troubleshooting this issue by trying different scenarios and setups such as changing physics solver type, gazebo seed, sensor noise and resolution settings and even different gazebo versions.

If I manually change robot's coordinates, sometimes sensor data has a slight difference at the same coordinates which leads to bigger difference when robot is controlled by acquired sensor data. I wrote a plugin that steps paused simulation when sensor data reads new value. I also tried to I tried to read sensor data on command by gazebo::sensors::run_once(true); function. Still no luck.

I was wondering if you have any suggestions or insight into why this might be happening. Or if there is a way to fix this, be it from your side, or our side.

Best regards, Ekin