|Note: This tutorial assumes that you have completed the previous tutorials: Simulation in Gazebo.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Using Simulated Tactile SensorsDescription: 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
$ rosmake sr_tactile_sensors
To start the dummy sensors, run:
$ roslaunch sr_tactile_sensors sr_tactile_virtual.launch
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.