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.

Student

Martiño Crespo Álvarez

Mentors

  • Carlos Aguero
  • Mabel Zhang
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2020