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adding sonar sensors to Gazebo
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Natalia Lyubova committed Mar 3, 2017
1 parent d42886e commit 74a517e
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Showing 2 changed files with 105 additions and 108 deletions.
161 changes: 79 additions & 82 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -2231,89 +2231,86 @@
<!--
Sonars
-->
<!--
<gazebo reference="SonarBack_frame">
<sensor type="ray" name="SonarBack">
<pose>0 0 0 0 0 0</pose>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.13</min_angle>
<max_angle>0.13</max_angle>
</vertical>
</scan>
<range>
<min>0.025</min>
<max>2.55</max>
<resolution>1</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<robotNamespace>/pepper_robot</robotNamespace>
<gaussianNoise>0.05</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>sonar_back</topicName>
<frameName>SonarBack_frame</frameName>
<minRange>0.025</minRange>
<maxRange>2.55</maxRange>
<fov>0.5235987755982988</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
<gazebo reference="SonarFront_frame">
<sensor type="ray" name="SonarFront">
<pose>0 0 0 0 0 0</pose>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<gazebo reference="SonarBack_frame">
<sensor name="SonarBack" type="ray">
<pose>0 0 0 0 0 0</pose>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</vertical>
</scan>
<range>
<min>0.0</min>
<max>5.0</max>
<resolution>1</resolution>
<min_angle>-0.13</min_angle>
<max_angle>0.13</max_angle>
</vertical>
</scan>
<range>
<min>0.025</min>
<max>2.55</max>
<resolution>1</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<robotNamespace>/pepper_robot</robotNamespace>
<gaussianNoise>0.05</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>sonar_front</topicName>
<frameName>SonarFront_frame</frameName>
<minRange>0.025</minRange>
<maxRange>2.55</maxRange>
<fov>0.5235987755982988</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
-->
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<robotNamespace>/pepper_robot</robotNamespace>
<gaussianNoise>0.05</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>sonar_back</topicName>
<frameName>SonarBack_frame</frameName>
<minRange>0.0</minRange>
<maxRange>5.0</maxRange>
<fov>1.05</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
<gazebo reference="SonarFront_frame">
<sensor name="SonarFront" type="ray">
<pose>0 0 0 0 0 0</pose>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</vertical>
</scan>
<range>
<min>0.0</min>
<max>5.0</max>
<resolution>3</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<robotNamespace>/pepper_robot</robotNamespace>
<gaussianNoise>0.05</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>sonar_front</topicName>
<frameName>SonarFront_frame</frameName>
<minRange>0.0</minRange>
<maxRange>5.0</maxRange>
<fov>1.05</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
<!-- Drive controller -->
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
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52 changes: 26 additions & 26 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -637,7 +637,7 @@
<!--
Sonars
-->
<!--

<gazebo reference="SonarBack_frame">
<sensor type="ray" name="SonarBack">
<pose>0 0 0 0 0 0</pose>
Expand All @@ -647,21 +647,21 @@
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.13</min_angle>
<max_angle>0.13</max_angle>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</vertical>
</scan>
<range>
<min>0.025</min>
<max>2.55</max>
<resolution>1</resolution>
<min>0.0</min>
<max>5.0</max>
<resolution>3</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
Expand All @@ -671,9 +671,9 @@
<updateRate>20</updateRate>
<topicName>sonar_back</topicName>
<frameName>SonarBack_frame</frameName>
<minRange>0.025</minRange>
<maxRange>2.55</maxRange>
<fov>0.5235987755982988</fov>
<minRange>0.0</minRange>
<maxRange>5.0</maxRange>
<fov>1.05</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
Expand All @@ -688,21 +688,21 @@
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.13</min_angle>
<max_angle>0.13</max_angle>
<resolution>3</resolution>
<min_angle>-0.52</min_angle>
<max_angle>0.52</max_angle>
</vertical>
</scan>
<range>
<min>0.025</min>
<max>2.55</max>
<resolution>1</resolution>
<min>0.0</min>
<max>5.0</max>
<resolution>3</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
Expand All @@ -712,14 +712,14 @@
<updateRate>20</updateRate>
<topicName>sonar_front</topicName>
<frameName>SonarFront_frame</frameName>
<minRange>0.025</minRange>
<maxRange>2.55</maxRange>
<fov>0.5235987755982988</fov>
<minRange>0.0</minRange>
<maxRange>5.0</maxRange>
<fov>1.05</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
-->

<!-- Drive controller -->
<gazebo>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
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