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Figured out the solution. I just take the messages published to the joint_state topic, manipulate them into a gazebo_msgs/ModelState message and publish them to the /gazebo/set_model_state topic. Although the exact real life scenario and the gazebo simulation is different for the similar commands, it gives me an appropriate scenario to compare what should be happening (in gazebo) vs what is really happening (the real life robot). E.g. if I implement an odometry correction algorithm, if it is properly corrected in gazebo and not in the real robot, that would mean the real robot might holding a mechanical or environment problem (keeping in consideration that the gazebo environment and the robot model is configured according to the desired situation). Refer to 'Gazebo subscribed topics' in this link for further help: http://gazebosim.org/tutorials?tut=ros_comm&cat=connect_ros

Figured out the solution. I just take the messages published to the joint_state topic, manipulate them into a gazebo_msgs/ModelState message and publish them to the /gazebo/set_model_state topic. Although the exact real life scenario and the gazebo simulation is different for the similar commands, it gives me an appropriate scenario to compare what should be happening (in gazebo) vs what is really happening (the real life robot). E.g. if I implement an odometry correction algorithm, if it is properly corrected in gazebo and not in the real robot, that would mean the real robot might holding have a mechanical or environment problem (keeping in consideration that the gazebo environment and the robot model is configured according to the desired situation). Refer to 'Gazebo subscribed topics' in this link for further help: http://gazebosim.org/tutorials?tut=ros_comm&cat=connect_ros