Skip to content

Gazebo sonar plugin #248

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Gazebo sonar plugin #248

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
12156dd
Add sonar plugin from outstanding PR #697 on ros-simulation/gazebo_ro…
darrenchurchill Feb 20, 2019
df365ed
Use sonar sensor plugin in rover models.
darrenchurchill Feb 20, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
93 changes: 33 additions & 60 deletions simulation/models/achilles/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,79 +46,52 @@
</material>
</visual>

<sensor type="ray" name="us_left_sensor">
<pose>0.15 0.07 0.053 0 0 0.43633</pose>
<sensor type="sonar" name="us_left_sensor">
<pose>0.15 0.07 0.053 0 -1.5708 0.43633</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/achilles/sonarLeft</topicName>
<frameId>achilles/us_left_link</frameId>
<frameName>achilles/us_left_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>
<sensor type="ray" name="us_right_sensor">
<pose>0.15 -0.07 0.053 0 0 -0.43633</pose>
<sensor type="sonar" name="us_right_sensor">
<pose>0.15 -0.07 0.053 0 -1.5708 -0.43633</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/achilles/sonarRight</topicName>
<frameId>achilles/us_right_link</frameId>
<frameName>achilles/us_right_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>
<sensor type="ray" name="us_center_sensor">
<pose>0.15 0 0.053 0 0 0</pose>
<sensor type="sonar" name="us_center_sensor">
<pose>0.15 0 0.053 0 -1.5708 0</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/achilles/sonarCenter</topicName>
<frameId>achilles/us_center_link</frameId>
<frameName>achilles/us_center_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>

Expand Down
93 changes: 33 additions & 60 deletions simulation/models/aeneas/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,79 +46,52 @@
</material>
</visual>

<sensor type="ray" name="us_left_sensor">
<pose>0.15 0.07 0.053 0 0 0.43633</pose>
<sensor type="sonar" name="us_left_sensor">
<pose>0.15 0.07 0.053 0 -1.5708 0.43633</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/aeneas/sonarLeft</topicName>
<frameId>aeneas/us_left_link</frameId>
<frameName>aeneas/us_left_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>
<sensor type="ray" name="us_right_sensor">
<pose>0.15 -0.07 0.053 0 0 -0.43633</pose>
<sensor type="sonar" name="us_right_sensor">
<pose>0.15 -0.07 0.053 0 -1.5708 -0.43633</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/aeneas/sonarRight</topicName>
<frameId>aeneas/us_right_link</frameId>
<frameName>aeneas/us_right_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>
<sensor type="ray" name="us_center_sensor">
<pose>0.15 0 0.053 0 0 0</pose>
<sensor type="sonar" name="us_center_sensor">
<pose>0.15 0 0.053 0 -1.5708 0</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/aeneas/sonarCenter</topicName>
<frameId>aeneas/us_center_link</frameId>
<frameName>aeneas/us_center_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>

Expand Down
93 changes: 33 additions & 60 deletions simulation/models/ajax/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,79 +46,52 @@
</material>
</visual>

<sensor type="ray" name="us_left_sensor">
<pose>0.15 0.07 0.053 0 0 0.43633</pose>
<sensor type="sonar" name="us_left_sensor">
<pose>0.15 0.07 0.053 0 -1.5708 0.43633</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/ajax/sonarLeft</topicName>
<frameId>ajax/us_left_link</frameId>
<frameName>ajax/us_left_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>
<sensor type="ray" name="us_right_sensor">
<pose>0.15 -0.07 0.053 0 0 -0.43633</pose>
<sensor type="sonar" name="us_right_sensor">
<pose>0.15 -0.07 0.053 0 -1.5708 -0.43633</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/ajax/sonarRight</topicName>
<frameId>ajax/us_right_link</frameId>
<frameName>ajax/us_right_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>
<sensor type="ray" name="us_center_sensor">
<pose>0.15 0 0.053 0 0 0</pose>
<sensor type="sonar" name="us_center_sensor">
<pose>0.15 0 0.053 0 -1.5708 0</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
<min_angle>-.478</min_angle>
<max_angle>0.478</max_angle>
</horizontal>
</scan>
<range>
<min>0.010</min>
<max>3</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="us" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<sonar>
<min>0.01</min>
<max>3.0</max>
<radius>0.5</radius>
</sonar>
<plugin name="us" filename="libgazebo_plugins_sonar.so">
<gaussianNoise>0.15</gaussianNoise>
<topicName>/ajax/sonarCenter</topicName>
<frameId>ajax/us_center_link</frameId>
<frameName>ajax/us_center_link</frameName>
<fov>0.5</fov>
</plugin>
</sensor>

Expand Down
Loading