Adds range plugin for infrared and ultrasound sensors from PAL Robotics

[bmagyar]

Rebase of #311 to indigo-devel + added install rule for new plugin and squashed 'em together.

Solves #162 on ROS Indigo.

[bmagyar]

@j-rivero

[gavanderhoorn]

Is this copy/pasta from the frameName check above? I'm really not a Gazebo plugin expert, but this seems like a strange topic name for a sonar sensor?

[bmagyar]

Oh it is indeed copy pasta with tomato sauce. Also the message there make no sense, I shall fix them shortly.

[bmagyar]

@scpeters, what do you think?

[scpeters]

+1

[rethink-imcmahon]

+1 great addition @AlexReimann & @bmagyar

[j-rivero]

Amazing! Thanks Ben! Would you mind to include a quick test world file in gazebo_plugins/test/range?

[bmagyar]

Only a .world file? If I need anything else, please you point me at an example from the test folder.

[j-rivero]

The point is to have something to demonstrate and run the code for testing and learning proposes. I think that a world file + launch file could be a good combo. Give a look to what Nate implemented in pull request for #338.

Automatic testing would be ideal, but we probably need to setup a proper mechanism in place first to be shared by the different plugins.

[bmagyar]

Took some time to get back here, but I finally managed to add a world file + a launch file.

There are 2 boxes in the world, both with a range sensor. One looks at the other, the other looks into the horizon like a true western hero.

To launch and check:

roslaunch gazebo_ros range.world.launch
rostopic echo /sonar
rostopic echo /sonar2

There is a gaussian noise on the sensors, so the perfect 0.25 measurement hardly appears, but it works well.

Now I will try to add a rostest in a new commit.

[j-rivero]

Took some time to get back here, but I finally managed to add a world file + a launch file.

Thanks very much Bence for taking the time to implement it. I was able to build your patch built on top of pull request #350 using gazebo5 and gazebo6 on Trusty/Indigo.

Now I will try to add a rostest in a new commit.

I will pay the beers if you made that :) Since I'm planning on releasing (issue #335), I want to get this in, so I will merge it just after pull request #350. Feel free to send a new pull request for the rostest support.

[bmagyar]

Great!
This means that gazebo plugins will be synced for now between indigo and
jade? Good news for my patch for the block laser ;)
On 14 Aug 2015 00:25, "Jose Luis Rivero" notifications@github.com wrote:

Took some time to get back here, but I finally managed to add a world file

• a launch file.

Thanks very much Bence for taking the time to implement it. I was able to
build your patch built on top of pull request #350
#350 using
gazebo5 and gazebo6 on Trusty/Indigo.

Now I will try to add a rostest in a new commit.

I will pay the beers if you made that :) Since I'm planning on releasing
(issue #335 #335),
I want to get this in, so I will merge it just after pull request #350
#350. Feel free
to send a new pull request for the rostest support.

—
Reply to this email directly or view it on GitHub
#335 (comment)
.

[j-rivero]

This means that gazebo plugins will be synced for now between indigo and jade?

That should have been done in pull request #350 and this PR will go into jade in pull request #352