Hello, Sonar in Gazebo is not yet implemented, and your contribution would be greatly appreciated.
As a starting point you should look at the Ray sensor (gazebo/server/sensors/ray). This sensor class is used to simulate laser beams. It will provide you with the general class structure for your sonar sensor. You will also need to create a libgazebo interface. You'll add the interface to then of the gazebo.h file (gazebo/libgazebo/gazebo.h). This file contains many examples, so you should be able to mostly cut-and-paste. Finally, you'll need to create a controller. A controller connects a sensor (or actuator) to a libgazebo interface. Think of it as interpreting the sensor data, and filling in the libgazebo iface. Again there are plenty of examples in (gazebo/server/controllers). Look at the laser interfaces for inspiration. Let me know if you have any questions or problems. I'm more than happy to help. Once you are done, you can submit a patch via the sourceforge patch system (https://sourceforge.net/tracker/?atid=433166&group_id=42445&func=browse) -nate On Wed, Oct 1, 2008 at 5:47 AM, Freyr Magnússon <[EMAIL PROTECTED]> wrote: > Hi, > > I'm interested in the status of the sonar device for the gazebo. I saw a > few posts on this mailing list where others where asking the same thing. > > Was there a functional sonar device earlier? if so what happened to it? > > I made a simulated sonar using ogre and ogreopcode a while back for a > spatial mapping project. I tried to use collision volumes to generete > contacts but found it inadequate since it only generated contacts along the > intersecting borders of the cone shape I used. So I made a ray cast spead > in stead with much better results and returned the least distance found. > > If there is no sonar device available I'm interested in making one based on > ray cast spread which can be configured depending on the requirements of the > simulation resolution and performance requirements. From a single on-axis > ray cast to randomly distributed spherical spread based on sonar angle > possibly off-axis density decay. (trying to make it sound fancy :P). > > what sould I be looking at for pointer regarding this? > > regards, > Freyr > ------------------------------------------------------------------------- > This SF.Net email is sponsored by the Moblin Your Move Developer's challenge > Build the coolest Linux based applications with Moblin SDK & win great prizes > Grand prize is a trip for two to an Open Source event anywhere in the world > http://moblin-contest.org/redirect.php?banner_id=100&url=/ > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
