I would like to read some sensor data (contact force and position) to control my robot in model plugin. However, it's really hard to find the way for me. I couldn't find any tutorial explaining robot control by sensor feedback in Gazebo standalone version. Is there any unified way to read sensor data (Position, velocity, acceleration, image and etc.) and to control a robot in its model plugin?
Originally posted by Wonyoung on Gazebo Answers with karma: 37 on 2014-01-17
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How about these 2 tutorials ? They helped me to implement a basic obstacle avoiding robot recently.
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Also, you can check API ref.
For example, you can use this one to read velocity data from your robot.
math::Vector3 GetRelativeLinearVel ()
Originally posted by SpiderRico with karma: 18 on 2014-01-17
This answer was ACCEPTED on the original site
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Comment by Wonyoung on 2014-01-17:
Thank you for the kind answer! I don't know why I missed these ones. I have searched all wrong key words. By the way, it would be nice if there are some example codes in the huge gazebo API. For beginners like me, it's just all Greek. :(
Comment by SpiderRico on 2014-01-17:
You are right. I hope these 2 tutorials will give you a nice start though :) Good luck.