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The correct sintax to get the state of the link you are interested on is:

rosservice call /gazebo/get_link_state 'link_name: *MODEL_NAME*::*LINK_NAME*'

Link names are prefixed by model name, e.g. pr2::base_link.

The same for the second command, the correct sintax is:

rosservice call /gazebo/get_link_properties 'link_name: *MODEL_NAME*::*LINK_NAME*'

The correct sintax to get the state of the link you are interested on is:

rosservice call /gazebo/get_link_state 'link_name: *MODEL_NAME*::*LINK_NAME*'
MODEL_NAME::LINK_NAME'

Link names are prefixed by model name, e.g. pr2::base_link.

The same for the second command, the correct sintax is:

rosservice call /gazebo/get_link_properties 'link_name: *MODEL_NAME*::*LINK_NAME*'
MODEL_NAME::LINK_NAME'