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cogimon / rtt-gazebo-robot-sim

RTT-Gazebo base component for different robotic platforms
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Simulation of LoadCells #19

Open EnricoMingo opened 7 years ago

EnricoMingo commented 7 years ago

We will need also Load Cells (FSR) sensors simulation since they will be mounted down the feet. In NAO these sensors are implemented as bumper sensors using the libgazebo_ros_bumper.so (check https://github.com/ros-naoqi/nao_robot/blob/master/nao_description/urdf/naoV33_generated_urdf/naoGazebo.xacro

The libgazebo_ros_bumper.so (https://github.com/ros-simulation/gazebo_ros_pkgs/blob/jade-devel/gazebo_plugins/src/gazebo_ros_bumper.cpp) is a particular implementation of the contact sensor in gazebo (https://bitbucket.org/osrf/gazebo/src/502ac23ec4388fdf1e004dc09dabbb86442bd5e5/gazebo/sensors/ContactSensor.hh?at=default&fileviewer=file-view-default).

Here the information is at least the tangential force sensed by the sensor (that should be just a double) in the frame of the sensor.

EnricoMingo commented 7 years ago

Note that considering the documentation of the contact sensor https://bitbucket.org/osrf/gazebo/src/502ac23ec4388fdf1e004dc09dabbb86442bd5e5/gazebo/sensors/ContactSensor.hh?at=default&fileviewer=file-view-default, we need to rotate the force reading from inertial frame to local (sensor) frame. If we are going to develop a brand new plugin I suggest to be compliant with the ROS one.

xwavex commented 7 years ago

What does "frame" mean in these cases? Is it a reference to a pose (= translation and rotation) or is it a pose itself?

xwavex commented 7 years ago

BTW since this is a very general question for sensor support, perhaps we should move it to another repo.

EnricoMingo commented 7 years ago

The frame associated to the sensor.

2016-11-04 11:43 GMT+01:00 Dennis Leroy Wigand notifications@github.com:

BTW since this is a very general question for sensor support, perhaps we should move it to another repo.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/cogimon/rtt-gazebo-robot-sim/issues/19#issuecomment-258397840, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQayuXgndm8jGgGmeY_r5abHHBjYCgnks5q6ww1gaJpZM4KY2jg .

PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

xwavex commented 7 years ago

Yes but how is it presented concretely?

EnricoMingo commented 7 years ago

Normally depends on the particular sensor plugin (most of the times you can set it basically from the plugin specification).

2016-11-04 12:00 GMT+01:00 Dennis Leroy Wigand notifications@github.com:

Yes but how is it presented concretely?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/cogimon/rtt-gazebo-robot-sim/issues/19#issuecomment-258403129, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQaypMht9S4m0yiClKvEiighPMMl8FBks5q6xBTgaJpZM4KY2jg .

PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova