How are link names referenced for gazebo/SetLinkState?

asked 2011-05-26 08:50:28 -0500

Asomerville
2743 ●74 ●99 ●133 http://www.resquared.com/

updated 2011-06-02 03:39:30 -0500

In trying to use gazebo/SetLinkState I can't seem to figure out what to call the links to get gazebo to recognize them. I use the names I see published on "/gazebo/link_states". But everytime I use a link name that I know exists, it always replies with:

SetLinkState: link [My/Link/Name/Here_link] does not exist

I've tried many permutations including prefixing the link name with the model/robot name like:

Robot_Name/My/Link/Name/Here_link

to no avail.

TLDR: How are link names referenced? What is the magic formula for getting gazebo to recognize link names?

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answered 2011-05-26 08:52:25 -0500

Asomerville
2743 ●74 ●99 ●133 http://www.resquared.com/

updated 2011-06-02 03:45:36 -0500

It turns out the scope token for models is '::' so to get it to work, the link has to be referenced using a string like:

Robot_Name::My/Link/Name/Here_link

Currently the /gazebo/link_states topic does not publish the root scope (e.g. Robot_Name:: ) but this has been patched and the scope will be published along with the name in "Electric Turtle".

A patch for gazeboros in diamondback is available here.

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Next admin that sees this: Could you please mark this as the answer?

Asomerville ( 2011-06-02 03:36:20 -0500 )edit

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answered 2011-05-26 09:01:30 -0500

hsu
5735 ●31 ●62 ●89

It's implicitly defined in the tutorials but I'll add it to the message comment as well. Sorry about that.

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Thanks. I just missed that because I was skimming and searching for set_link specific stuff without reading in between. Hard to know when to go depth first, or breadth first when searching for clues : )

Asomerville ( 2011-05-26 09:11:39 -0500 )edit

btw is there a reason that the link state publisher on topic "/gazebo/link_states" does not use the same robot/model qualification?

Asomerville ( 2011-05-26 11:22:23 -0500 )edit

that's an oversight. I've ticketed myself. https://code.ros.org/trac/ros-pkg/ticket/4972. Thanks for the patch, applied in electric turtle unstable trunk.

hsu ( 2011-05-26 11:59:58 -0500 )edit

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How are link names referenced for gazebo/SetLinkState?

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