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AutonomyLab / create_robot

ROS driver for iRobot Create 1 and 2.
http://www.autonomylab.org/create_autonomy
BSD 3-Clause "New" or "Revised" License
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Support IR Omni and bumper sensors in Gazebo #76

Open Interaze opened 3 years ago

Interaze commented 3 years ago

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?

jacobperron commented 3 years ago

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.

Interaze commented 3 years ago

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.

jacobperron commented 3 years ago

@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.