Ignition Gazebo Optical Tactile Sensor Plugin
- Mentors
- Carlos Aguero, Mabel Zhang
- Organization
- Open Source Robotics Foundation
Tactile sensors allow you to sense physical interactions with the environment. This GSoC project aimed to implement the first step in the simulation of an optical tactile sensor using a depth camera and a contact sensor. The plugin allows you to:
- Measure surface normals of the objects in contact.
- Visualize them in Ignition Gazebo.
- Access them through a topic.
- Turning the plugin on and off through a service.
- Tune the plugin with parameters like resolution, visualization and more.