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Last active September 22, 2023 14:43
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GSoC 2020: Ignition Gazebo Optical Tactile Sensor Plugin
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OSRF_GSoC_2020.md

GSoC Project

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.
  • Turning the plugin on and off through a service.

You can find a link to the GitHub main PR here.

Some more functionalities are being added in this - currently underway - PR.

I have also written a post about the project at Gazebo Community.

Side Work

Throughout the summer, we the GSoC students have been encouraged to contribute to Open Robotics by working on some PRs not related to the main GSoC project. I think this has been a really important part of my experience, and these are the reasons why:

  • First of all, it helped me to become familiar with version control and the basic git commands.
  • It also allowed me to get more knowledge about Ignition and to take a look at how things work under the hood.
  • Last but not least, it forced us to work with people in the organization other than our mentors.

Here is a list to such PRs:

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