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Note: This tutorial assumes that you have completed the previous tutorials: Simulation in Gazebo.
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Using Simulated Tactile Sensors

Description: Learn how to use the two different simulated tactile sensors: the dummy tactile sensors, and the simulated tactile sensors in the Gazebo simulator.

Tutorial Level: BEGINNER

Next Tutorial: See how you can access the data being published in the next tutorial: Getting Data

Compiling

Just run

$ rosmake sr_tactile_sensors

Dummy Sensors

To start the dummy sensors, run:

$ roslaunch sr_tactile_sensors sr_tactile_virtual.launch

Gazebo

We assume you've followed this tutorial and know how to start the Hand interface for Gazebo.

To start the simulated sensors, run:

$ roslaunch sr_tactile_sensors sr_tactile_gazebo.launch

This will get the data published by the Gazebo tactile sensors and format it for you to have the same interface for the 3 different sensor modes.


2019-10-12 13:09