Read sensor data with ROS

Question

I've just started to learn ROS and Gazebo and now, finally, I can connect ROS with Gazebo (I control a robot in Gazebo with keyboard using turtlesim turtle_teleop_key.

Now I want to add some sensors to my robot and read the data from ROS. How can I do it? Do I need to code a Gazebo plugin?

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Originally posted by VansFannel on Gazebo Answers with karma: 15 on 2018-09-10

Post score: 0

Answer 1

Now I want to add some sensors to my robot and read the data from ROS. How can I do it? Do I need to code a Gazebo plugin?

To extract data from Gazebo, you have three options:

1. Use a pre-existing Gazebo Plugin/Sensor that publishes the data to ROS
2. Use a pre-existing Gazebo Plugin or Sensor that publishes the data to the Gazebo Transport Layer. You'll have to access this data (e.g. from a ROS Node) via the Gazebo Transport Library.
3. Write your own custom Gazebo Plugin that publishes sensor data using either of the above methods.

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Originally posted by josephcoombe with karma: 609 on 2018-09-12

This answer was ACCEPTED on the original site

Post score: 1