Support IR Omni and bumper sensors in Gazebo
Interaze opened this issue · 3 comments
Put simply, it lists that the ir sensors are supported with this repo, but I'm unable to see it as a topic in ros with gazebo and the create_2.launch file, is this feature only for runtime instead of gazebo?
Only the omni IR sensor is supported, and this referring to the real robot driver. Note, this is a passive sensor (not a range finder). To get an equivalent sensor in a Gazebo simulation, we should modify the simulation description with an appropriate plugin. I'm not sure if there exists a plugin for this type of fiducial sensor.
Thankyou for the reply, would it be possible to get help to work on some of this? I'm willing to help out as much as I can, but I have little experience with developing urdf or sdf models. I think if we could get the bumper working for the model it would really make a difference.
@Interaze I don't have much time to dedicate, but it does look like gazebo_ros supports bumper sensors. You could try adapting that example, adding it to the create gazebo description file.