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## note.0= [[sr_hand/Tutorials/Simulation in Gazebo|Simulation in Gazebo]]
## descriptive title for the tutorial
## title = Using Simulated Tactile Sensors
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## description = Learn how to use the two different simulated tactile sensors: the dummy tactile sensors, and the simulated tactile sensors in the Gazebo simulator.
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## next = See how you can access the data being published in the next tutorial:
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## next.0.link= [[sr_tactile_sensors/Tutorials/Getting Data|Getting Data]]
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<<TableOfContents(4)>>



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== 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 [[sr_hand/Tutorials/Simulation in Gazebo|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.