A Gazebo beam Sonar plugin (not a ROS component)
git clone [email protected]:Field-Robotics-Lab/gazebo_beam.git
- Based on
gazebo-9.0.0/plugins/GpuRayPlugin.cc - Gazebo tutorials: http://gazebosim.org/tutorials
- Example contact sensor: http://gazebosim.org/tutorials?tut=contact_sensor
- ROS sensor_msgs/LaserScan: http://docs.ros.org/melodic/api/sensor_msgs/html/msg/LaserScan.html includes angle range, ranges[] and intensities[].
- ROS sensor_msgs: http://docs.ros.org/melodic/api/sensor_msgs/html/index-msg.html
Build libnps_beam.so using cmake:
cd gits/gazebo_beam
mkdir build
cd build
cmake ..
make
Set library path so Gazebo can find it by putting this line in .bashrc:
# Gazebo plugin
export LD_LIBRARY_PATH=~/gits/gazebo_beam/build:$LD_LIBRARY_PATH