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.