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 | 1 | initial version |
If you are simulating a Turtlebot2, the kobuki base gazebo plugin provides bumper / cliff sensor events as kobuki_msgs::BumperEvent / kobuki_msgs::CliffEvent messages in the /mobile_base/events/bumper and /mobile_base/events/cliff topics.
On the real robot, bumper/cliff events are also republished as a pointcloud, so can be integrated on move_base's costmaps, but this doesn't work on simulation jet (I'll make it, if I ever find the time)
| | 2 | No.2 Revision |
If you are simulating a Turtlebot2, the kobuki base gazebo plugin provides bumper / cliff sensor events as kobuki_msgs::BumperEvent / kobuki_msgs::CliffEvent messages in the /mobile_base/events/bumper and /mobile_base/events/cliff topics.topics. No idea about the Create plugin, however.
On the real robot, bumper/cliff events are also republished as a pointcloud, so can be integrated on move_base's costmaps, but this doesn't work on simulation jet (I'll make it, if I ever find the time)
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