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SENSORS.md

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Plugins supported in Gazebo ROS packages

Initial note

As detailed in the CONTRIBUITON.md guide, Gazebo ROS packages are a wrapper that connects upstream Gazebo simulations with the ROS framework. Ideally all the plugins in this repository should implement the ROS wrapper over a gazebo plugin (plugin code in the upstream gazebo repository).

Sensors

Template

  • description: short description of the wrapper.
  • status:
    • maintained: no big issues, should work fine
    • autotest: the wrapper has automatic tests
    • doxygen: the wrapper implements doxygen comments
    • needs-cleanup: the code of the wrapper should be improved
    • not-just-a-wrapper: the code in this repo is not just a wrapper and contains simulation code. The simulation code should be migrated to the Gazebo repository.
  • gazebo plugin: gazebo upstream plugin used by the wrapper
  • example: example files that use the wrapper

ROS wrappers for Gazebo upstream sensors

  • gazebo_ros_block_laser

    • description: implements ray based sensors (lasers). Publishes sensors_msgs::PointCloud.
    • status: maintained
    • gazebo plugin: RayPlugin
    • example: gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world

  • gazebo_ros_bumper

    • description: implements a contact sensor. Publishes gazebo_msgs::ContactsState.
    • status: maintained, needs-cleanup
    • gazebo plugin:
    • example: gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world:
    • test: gazebo_plugins/test/test_worlds/bumper_test.world:

  • gazebo_ros_camera gazebo_ros_camera_utils

    • description: implements a camera. Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
    • status: maintained, dynamic-reconfigure, autotest
    • gazebo plugin: CameraPlugin, GazeboRosCameraUtils
    • example: gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world: gazebo_plugins/test/test_worlds/gazebo_ros_depth_camera.world: gazebo_plugins/test/test_worlds/gazebo_ros_camera.world: gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world: gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro:

  • gazebo_ros_f3d

    • description: controller that fake (empty publisher) a 6 dof force sensor Publishes geometry_msgs::WrenchStamped
    • status: stub
    • gazebo plugin: ModelPlugin (generic)
    • example: --

  • gazebo_ros_force

    • description: collects data from a ROS topic and applies wrench to a body accordingly.
    • status: maintained, doxygen
    • gazebo plugin: ModelPlugin (generic)
    • example: --

  • gazebo_ros_ft_sensor

    • description: implements Force/Torque sensor. Publishes: geometry_msgs/WrenchStamped messages
    • status: maintained, doxygen
    • gazebo plugin: ModelPlugin (generic)
    • example: --

  • gazebo_ros_gpu_laser

    • description: implements GPU laser based sensors. Publishes: sensor_msgs::LaserScan
    • status: maintained
    • gazebo plugin: GpuRayPlugin
    • example: gazebo_plugins/test/test_worlds/gazebo_ros_gpu_laser.world gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro

  • gazebo_ros_laser

    • description: ROS wrapper for ray based sensors (lasers). Publishes sensor_msgs::LaserScan.
    • status: maintained
    • gazebo plugin: RayPlugin
    • example: test/test_worlds/gazebo_ros_laser.world test/test_worlds/test_lasers.world test/multi_robot_scenario/xacro/laser/hokuyo.xacro

  • gazebo_ros_multicamera MultiCameraPlugin gazebo_ros_camera_utils

    • description: ROS wrapper for one or more synchronized cameras. Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
    • status: maintained, autotest
    • gazebo plugin: MultiCameraPlugin
    • example: --

  • gazebo_ros_openni_kinect

    • description: ROS wrapper for depth camera sensors (Kinect like) Publishes: sensor_msgs::PointCloud2, sensor_msgs::Image
    • status: maintained
    • gazebo plugin: DepthCameraPlugin
    • example: --

  • gazebo_ros_prosilica

    • description: plugin for simulating prosilica cameras in gazebo Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
    • status: maintained
    • gazebo plugin: > CameraPlugin > ModelPlugin (generic)
    • example: --

  • gazebo_ros_range

    • description: simulate range sensors like infrared or ultrasounds Publishes: sensor_msgs/Range
    • status: maintained
    • gazebo plugin: RayPlugin
    • example: gazebo_plugins/test/test_worlds/gazebo_ros_range.world gazebo_ros/launch/range_world.launch

ROS implementations for sensors (not recommended)

Although there is some code in this repo that implements simulations, this should be an exception. Please checkout the CONTRIBUTION.md guide for more details about which code should be submitted to this repository.

  • gazebo_ros_depth_camera

    • description: implements depth camera based sensors. Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo, sensors_msgs::PointCloud2
    • status: maintained, not-just-a-wrapper, autotest, needs-cleanup
    • gazebo plugin: DepthCameraPlugin
    • example: gazebo_plugins/test/test_worlds/gazebo_ros_depth_camera.world gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world

  • gazebo_ros_diff_drive

    • description: implements a diff drive base. Publishes: sensor_msgs::JointState, nav_msgs::Odometry
    • status: maintained, not-just-a-wrapper, rosparams, needs-cleanup
    • gazebo plugin: ModelPlugin (generic)
    • example: gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch

Other plugins (not related to sensors)

  • gazebo_ros_elevator

    • description: implements an elevator
    • status: maintained
    • gazebo plugin: ElevatorPlugin
    • example: gazebo_plugins/test/test_worlds/elevator.world

  • gazebo_ros_hand_of_god

    • description: Drives floating object around based on the location of a TF frame
    • status: maintained, doxygen
    • gazebo plugin: ModelPlugin (generic)
    • example: --

  • gazebo_ros_joint_pose_trajectory

    • description: get a pose trajectory (trajectory_msgs::JointTrajectory) and execute it
    • status: maintained
    • gazebo_plugin: --
    • example: gazebo_plugins/test/pub_joint_trajectory_test.cpp

  • gazebo_ros_joint_state_publisher

    • description: ROS plugin that publishes the state of a given set of joints at a given rate Publishes: sensors_msgs::JointState
    • status: maintained
    • gazebo_plugin: --
    • example: multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro

  • gazebo_moveit_planning_scene

    • description: ROS plugin that publishes the obstacle information for moveit. Publishes: moveit_msgs::PlanningScene
    • status: maintained
    • gazebo_plugin: --
    • example:

  • gazebo_ros_p3d

    • description: publish 3D position interface for ground truth Publishes: nav_msgs::Odometry
    • status: maintained
    • gazebo plugin: ModelPlugin (generic)
    • example: test/p3d_test/worlds/single_pendulum.world test/p3d_test/worlds/3_double_pendulums.world test2/large_models/smaller_large_model.urdf.xacro test2/large_models/large_model.urdf.xacro

  • gazebo_ros_planar_move

    • description: simple model controller that uses a twist message to move a robot on the xy plane Publishes: nav_msgs::Odometry, tf
    • status: maintained
    • gazebo plugin: ModelPlugin (generic)
    • example:

  • gazebo_ros_projector

    • description: controller that controls texture projection into the world from a given body. Publish: msgs::Projector
    • status: maintained
    • gazebo plugin: ModelPlugin (generic)
    • example: -- (some information in the header file)

  • gazebo_ros_skid_steer_drive

    • description: A skid steering drive plugin Publish: nav_msgs::Odometry
    • status: maintained
    • gazebo plugin: ModelPlugin (generic)
    • example: --

  • gazebo_ros_tricycle_drive

    • description: a tricycle drive plugin for gazebo Publish: nav_msgs::Odometry, sensor_msgs::JointState
    • status: maintained, rosparams
    • gazebo plugin: ModelPlugin (generic)
    • example: gazebo_plugins/test/tricycle_drive/ xacro, launch, world, rviz, etc.

  • gazebo_ros_triggered_camera / gazebo_ros_triggered_multicamera

    • description: These camera sensors do not publish unless triggered. They have an additional topic (default name image_trigger) that subscribes to std_msgs/Empty messages and will publish a single update after being triggered. Its maximum update rate is currently set by the <update_rate> sdf tag in the block. Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
    • status: maintained
    • example: gazebo_plugins/test/camera/triggered_camera.*

  • gazebo_ros_video

    • description: Video plugin for displaying ROS image topics on Ogre textures
    • status: maintained
    • gazebo plugin: VisualPlugin
    • example: --

List of deprecated plugins (to be removed)

  • gazebo_ros_joint_trajectory

    • description: migrate to gazebo_ros_joint_pose_trajectory
    • status: deprecated. To be removed in Lunar.
    • gazebo plugin: --
    • example: --

  • camera_synchronizer

  • vision_reconfigure

    • description:
    • status: needs-work, dead?
    • gazebo plugin: CameraSynchronizerConfig
    • example:

  • gazebo_ros_imu

    • description: implements an IMU sensor. Publishes: sensor_msgs::Imu
    • status: maintained, not-just-a-wrapper
    • gazebo plugin: ModelPlugin (generic)
    • example: --