How to add RFIDs or Wireless Transceivers as a plugin?

[libing64]

This is the sensor list in gazebo2.2 (/usr/include/gazebo-2.2/gazebo/sensors), I want to add the rfid sensor and the wireless transceiver as a plugin to the platform, but I am not sure how to do that. Can anyone give some advice?

• CameraSensor.hh
• ContactSensor.hh
• DepthCameraSensor.hh
• ForceTorqueSensor.hh
• GpsSensor.hh
• GpuRaySensor.hh
• ImuSensor.hh
• MultiCameraSensor.hh
• Noise.hh
• RaySensor.hh
• RFIDSensor.hh
• RFIDTag.hh
• SensorFactory.hh
• Sensor.hh
• SensorManager.hh
• sensors.hh
• SensorsIface.hh
• SensorTypes.hh
• SonarSensor.hh
• WirelessReceiver.hh
• WirelessTransceiver.hh
• WirelessTransmitter.hh

[libing64]

I have successfully added the wireless transceiver plugin to the simulation platform, I just search all the models with the name of "transmitter" and then compute the relative pose, so the distance and angle of arrival can be used as the measurement of the wireless sensor.

[nicolaerosia]

Interesting! I was wondering if you could share snippets of code for this. Best Regards

[libing64]

@nicolaerosia I upload the code to my github https://github.com/libing64/hector_gazebo