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lucasw / simple_sim_ros

Minimally featured but fast ROS physics simulation wrapping bullet
GNU General Public License v3.0
43 stars 11 forks source link

range sensors #15

Open lucasw opened 6 years ago

lucasw commented 6 years ago

Do raycasts and publish results in PointCloud2 and other range sensor formats.

Kinect like array sensors aren't that appropriate here and would be best left to graphics engine.

lucasw commented 6 years ago 
roslaunch bullet_server bullet_server.launch
roslaunch bullet_server imarker.launch

Manually position imarker to point x axis at bricks (TODO provide params so will be already positioned).

rosservice call /add_laser_scan "{name: 'laser_scan', topic_name: 'laser_scan', update_rate: 30.0, laser_scan: {header: {frame_id: 'spawn_frame'}, angle_min: -0.5, angle_max: 0.5, angle_increment: 0.05, time_increment: 0.0, scan_time: 0.0, range_min: 0.1, range_max: 5.0}}"