This is a Gist for the GSoC 2020 Ignition Gazebo Optical Tactile Sensor Plugin project at Open Robotics. During this project, we have developed the first step in the simulation of an optical tactile sensor in Ignition Gazebo 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.
- Tune the plugin with parameters like resolution, visualization and more.