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Thanks for the links. Unfortunately, I'm still not successful. These are my approaches:

gazebo::ModelState modelstate;
// ... fill modelstate with data ...

// First approach
ros::service::call("SetModelState", modelstate);

// Second approach
ros::ServiceClient client = n.serviceClient<gazebo::ModelState>("SetModelState");;

Both didn't work and gave errors when compiling (I can post them of course if this helps).