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Add the initial (untested) gazebo plugin configuration.

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This commit is contained in:
Matt Spencer
2026-05-07 20:55:24 +00:00
parent 54ed5c6a82
commit d3c3d03ae7
7 changed files with 146 additions and 16 deletions
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robot/src/raspbot_v2/urdf/sonar.xacro
+35 -12
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@@ -34,24 +34,47 @@
<!-- ─────────────────────────────────────────────────────────────────────
Gazebo sonar sensor (Gazebo Harmonic / gz-sim)
Simulated as a narrow-cone ray sensor. Data is published on gz topic
/ultrasonic/range and bridged to ROS 2 via ros_gz_bridge:
/ultrasonic/range (gz) → /ultrasonic/range (ROS 2, sensor_msgs/Range)
gz-sim has no native sonar sensor type. The HC-SR04 is approximated
as a narrow-cone gpu_lidar — a 5×5 ray grid spanning ±7.5° (≈15° FOV)
in both axes, which matches the HC-SR04's beam pattern.
The sensor publishes a gz LaserScan on /ultrasonic/scan. Bridge this
to ROS 2 via ros_gz_bridge, then convert to sensor_msgs/Range with a
small relay node (or just consume the LaserScan directly):
/ultrasonic/scan (gz LaserScan) → /ultrasonic/scan (ROS 2)
───────────────────────────────────────────────────────────────────── -->
<gazebo reference="ultrasonic">
<sensor name="sonar" type="sonar">
<sensor name="sonar" type="gpu_lidar">
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
<topic>/ultrasonic/range</topic>
<topic>/ultrasonic/scan</topic>
<gz_frame_id>ultrasonic</gz_frame_id>
<sonar>
<!-- HC-SR04 datasheet values -->
<min>${sonar_min_range}</min>
<max>${sonar_max_range}</max>
<!-- Half-angle of the cone in radians (~15° full FOV → 0.13 rad half-angle) -->
<radius>0.13</radius>
</sonar>
<lidar>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.1309</min_angle> <!-- −7.5° -->
<max_angle> 0.1309</max_angle> <!-- +7.5° -->
</horizontal>
<vertical>
<samples>5</samples>
<min_angle>-0.1309</min_angle>
<max_angle> 0.1309</max_angle>
</vertical>
</scan>
<range>
<min>${sonar_min_range}</min>
<max>${sonar_max_range}</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</lidar>
</sensor>
</gazebo>