Good morning, I open this question as I have not found a way to get the model_entity that collides with the gpu_lidar sensor.

I would like to be able to attach a gripper with such entity, but I can't know its name and location a priori. The only info I have is the relative distance from the lidar sensor msg.

Is there any way to get the first mesh to collide with the ray of the gpu_lidar and subsequently trace back to the link to create a detachable joint?


1 Answer 1


From your question at Gazebo Answers I understand that you want to move the gripper to the detected lidar position, and then grasp the object by making a detachable joint. But for this you need the entity ID of the detected object. Correct?

If so, you can probably use a PerformerDetector system with the PerformerDetector's region attached to your gripper. It publishes the name and the entity ID.

See this documentation and the PerformerDetector example world.

  • 1
    $\begingroup$ One caveat is that the PerformerDetector uses axis aligned boxes, so it may not work well in some cases. Another option to look at is logical cameras $\endgroup$
    – azeey
    Aug 9, 2023 at 20:00
  • $\begingroup$ Thanks a lot for the reference! The difficulty really lies in making attachments with an entity whose location and ID I cannot know a priori, I would like to emulate the most realistic behavior possible and looking on the net I found only about vacuum gripper (not working) and I was looking for something that would narrow down the check on entities in a particular area of the gripper, and then make attachments with the closest one based on the lidar msg. $\endgroup$
    – Gabriele
    Aug 10, 2023 at 12:58
  • $\begingroup$ There are other possible solutions, e.g. transform the laser scanner object points into world coordinates, and compare these to object coordinates from a pose publisher to discriminate which objects corresponds to the laser scanner detection. But as @Tully already wrote in another comment: you will need to give more detailed info on what specific you try to achieve (preferably with a sketch or image), how exactly you are currently trying, and what specific problems you run into that make it not work. $\endgroup$
    – JRTG
    Aug 10, 2023 at 13:12

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