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.


Martiño Crespo Álvarez


  • Carlos Aguero
  • Mabel Zhang