Only released in EOL distros:  

odor_tools: odor_bar | virtual_nose

Package Summary

Reads data from PlumeSim and publishes it as a lse_sensor_msgs/Nostril message.



virtual_nose_node is a wrapper for the plumesim service plumesim/ReadPlumeSim. It subscribes to the robot's odometry and polls the service for the chemical readings for posterior publish thus mimicking a nose node.

Subscribed Topics

odom (nav_msgs/Odometry)
  • The robot's odometry.

Published Topics

nose (lse_sensor_msgs/Nostril)

Services Called

read_plumesim (plumesim/ReadPlumeSim)
  • virtual_nose_node calls this service to get the chemical data from the robot's current position.


~frame_id (string, default: /base_nose)
  • The frame in which nose readings will be returned.


virtual_nose was designed to work with plumesim. You can find a tutorial on how to use virtual_nose on the PlumeSim Tutorials page.

Wiki: virtual_nose (last edited 2011-02-17 14:39:50 by Gonçalo Cabrita)