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Adds range plugin for infrared and ultrasound sensors from PAL Robotics #335
Adds range plugin for infrared and ultrasound sensors from PAL Robotics #335
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if (!this->sdf->HasElement("topicName")) | ||
{ | ||
ROS_INFO("Laser plugin missing <topicName>, defaults to /world"); | ||
this->topic_name_ = "/world"; |
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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?
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Oh it is indeed copy pasta with tomato sauce. Also the message there make no sense, I shall fix them shortly.
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@scpeters, what do you think? |
+1 |
+1 great addition @AlexReimann & @bmagyar |
Amazing! Thanks Ben! Would you mind to include a quick test world file in |
Only a .world file? If I need anything else, please you point me at an example from the test folder. |
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. |
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:
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. |
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.
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. |
Great!
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Adds range plugin for infrared and ultrasound sensors from PAL Robotics
…ge_sensor_plugin Adds range plugin for infrared and ultrasound sensors from PAL Robotics
Rebase of #311 to indigo-devel + added install rule for new plugin and squashed 'em together.
Solves #162 on ROS Indigo.