ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

height position control in gazebo

asked 2012-01-09 22:37:48 -0600

hmmm gravatar image

hi guys, i need a height position control for a quadrocopter in gazebo. Is there any useable plugin to achieve this goal? I thought of an ultrasonic sensor plugin for gazebo that provides the height information. Any suggestions are welcome


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2012-01-10 00:21:18 -0600

DimitriProsser gravatar image

Gazebo has a position_3d plugin that will give you the robot's height. You can use this plugin like so:

  <controller:gazebo_ros_p3d name="p3d_base_controller" plugin="">
    <xyzOffsets>0 0 0</xyzOffsets> 
    <rpyOffsets>0 0 0</rpyOffsets>
    <interface:position name="p3d_base_position"/>

This plugin will publish a sensor_msgs/Odometry message that you can extract height from.

edit flag offensive delete link more

Question Tools


Asked: 2012-01-09 22:37:48 -0600

Seen: 821 times

Last updated: Jan 10 '12