| Note: This tutorial assumes that you have completed the previous tutorials: Simulation in Gazebo. |
Using Simulated Tactile Sensors
Description: Learn how to use the two different simulated tactile sensors: the dummy tactile sensors, and the simulated tactile sensors in the Gazebo simulator.Tutorial Level: BEGINNER
Next Tutorial: See how you can access the data being published in the next tutorial: Getting Data
Contents
Compiling
Just run
$ rosmake sr_tactile_sensors
Dummy Sensors
To start the dummy sensors, run:
$ roslaunch sr_tactile_sensors sr_tactile_virtual.launch
Gazebo
We assume you've followed this tutorial and know how to start the Hand interface for Gazebo.
To start the simulated sensors, run:
$ roslaunch sr_tactile_sensors sr_tactile_gazebo.launch
This will get the data published by the Gazebo tactile sensors and format it for you to have the same interface for the 3 different sensor modes.