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 | 1 | initial version |
close, but I suggest going over the ROS tutorials in more detail. In particular, the examples on c++ service servers and clients.
Below fixes should compile
#include <ros/ros.h>
#include <gazebo_msgs/SetModelState.h>
int main (int argc, char** argv)
{
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo_msgs/set_model_state");
gazebo_msgs::SetModelState setmodelstate;
gazebo_msgs::ModelState modelstate;
setmodelstate.request.model_state = modelstate;
if (client.call(setmodelstate))
{
ROS_INFO("BRILLIANT!!!");
ROS_INFO("%f",modelstate.pose.position.x);
}
else
{
ROS_ERROR("Failed to call service ");
return 1;
}
return 0;
}
| | 2 | No.2 Revision |
close, but I suggest going over the ROS tutorials in more detail. In particular, the examples on c++ service servers Here is a complete set of instructions to get things working,
Open a new terminal, start gazebo empty world, spawn an object:
source /opt/ros/fuerte/setup.bash
roslaunch gazebo_worlds empty_world.launch
Open yet another terminal, spawn a model:
source /opt/ros/fuerte/setup.bash
rosrun gazebo spawn_model -urdf -file `rospack find gazebo_worlds`/objects/14_4v_cordless_drill.urdf -model drill -z 1
Open a third terminal, setup ros and clients.
Below fixes should compilecreate a package named gazebo_test:
cd /tmp
source /opt/ros/fuerte/setup.bash
roscreate-pkg gazebo_test gazebo gazebo_msgs
cd gazebo_test
export ROS_PACKAGE_PATH=`pwd`:${ROS_PACKAGE_PATH}
edit CMakeLists.txt so it looks like this:
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
rosbuild_add_executable(example src/example.cpp)
next, save following code to src/example.cpp:
#include <ros/ros.h>
#include <gazebo_msgs/SetModelState.h>
int main (int argc, char** argv)
{
ros::init(argc,argv,"test_node");
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo_msgs/set_model_state"); n.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state");
gazebo_msgs::SetModelState setmodelstate;
gazebo_msgs::ModelState modelstate;
modelstate.model_name = "drill";
setmodelstate.request.model_state = modelstate;
if (client.call(setmodelstate))
{
ROS_INFO("BRILLIANT!!!");
ROS_INFO("%f",modelstate.pose.position.x);
}
else
{
ROS_ERROR("Failed to call service ");
return 1;
}
return 0;
}
make and run:
make
./bin/example
Output: $ ./bin/example [ INFO] [1329941615.597042253]: BRILLIANT!!! [ INFO] [1329941615.597092973]: 0.000000
| | 3 | No.3 Revision |
Here is a complete set of instructions to get things working,
Open a new terminal, start gazebo empty world, spawn an object:
source /opt/ros/fuerte/setup.bash
roslaunch gazebo_worlds empty_world.launch
Open yet another terminal, spawn a model:
source /opt/ros/fuerte/setup.bash
rosrun gazebo spawn_model -urdf -file `rospack find gazebo_worlds`/objects/14_4v_cordless_drill.urdf -model drill -z 1
Open a third terminal, setup ros and create a package named gazebo_test:
cd /tmp
source /opt/ros/fuerte/setup.bash
roscreate-pkg gazebo_test gazebo gazebo_msgs
cd gazebo_test
export ROS_PACKAGE_PATH=`pwd`:${ROS_PACKAGE_PATH}
edit CMakeLists.txt so it looks like this:
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
rosbuild_add_executable(example src/example.cpp)
next, save following code to src/example.cpp:
#include <ros/ros.h>
#include <gazebo_msgs/SetModelState.h>
int main (int argc, char** argv)
{
ros::init(argc,argv,"test_node");
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state");
gazebo_msgs::SetModelState setmodelstate;
gazebo_msgs::ModelState modelstate;
modelstate.model_name = "drill";
setmodelstate.request.model_state = modelstate;
if (client.call(setmodelstate))
{
ROS_INFO("BRILLIANT!!!");
ROS_INFO("%f",modelstate.pose.position.x);
}
else
{
ROS_ERROR("Failed to call service ");
return 1;
}
return 0;
}
make and run:
make
./bin/example
Output:
Output:
$ ./bin/example
[ INFO] [1329941615.597042253]: BRILLIANT!!!
[ INFO] [1329941615.597092973]: 0.000000 0.000000
| | 4 | switch to electric |
Here is a complete set of instructions to get things working,
Open a new terminal, start gazebo empty world, spawn an object:
source /opt/ros/fuerte/setup.bash
/opt/ros/electric/setup.bash
roslaunch gazebo_worlds empty_world.launch
Open yet another terminal, spawn a model:
source /opt/ros/fuerte/setup.bash
/opt/ros/electric/setup.bash
rosrun gazebo spawn_model -urdf -file `rospack find gazebo_worlds`/objects/14_4v_cordless_drill.urdf -model drill -z 1
Open a third terminal, setup ros and create a package named gazebo_test:
cd /tmp
source /opt/ros/fuerte/setup.bash
/opt/ros/electric/setup.bash
roscreate-pkg gazebo_test gazebo gazebo_msgs
cd gazebo_test
export ROS_PACKAGE_PATH=`pwd`:${ROS_PACKAGE_PATH}
edit CMakeLists.txt so it looks like this:
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
rosbuild_add_executable(example src/example.cpp)
next, save following code to src/example.cpp:
#include <ros/ros.h>
#include <gazebo_msgs/SetModelState.h>
int main (int argc, char** argv)
{
ros::init(argc,argv,"test_node");
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state");
gazebo_msgs::SetModelState setmodelstate;
gazebo_msgs::ModelState modelstate;
modelstate.model_name = "drill";
setmodelstate.request.model_state = modelstate;
if (client.call(setmodelstate))
{
ROS_INFO("BRILLIANT!!!");
ROS_INFO("%f",modelstate.pose.position.x);
}
else
{
ROS_ERROR("Failed to call service ");
return 1;
}
return 0;
}
make and run:
make
./bin/example
Output:
$ ./bin/example
[ INFO] [1329941615.597042253]: BRILLIANT!!!
[ INFO] [1329941615.597092973]: 0.000000
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