calling service from c++ code. /gazebo/set_model_state

asked 2012-02-08 00:32:57 -0600

Maurizio88
155 ●21 ●24 ●31

updated 2014-01-28 17:11:18 -0600

ngrennan
1 ●1 ●1

hi, i want to call the service /gazebo/set_model_state from gazebo package. I can do it by command-console:

rosservice call /gazebo/set_model_state '{model_state: { model_name: my_robot, pose: { position: { x: 0.0, y: 0.0 ,z: 0.1 }, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0 } }, twist: { linear: {x: 0.0 , y: 0 ,z: 0 } , angular: { x: 0.0 , y: 0 , z: 0.0 } } , reference_frame: world } }'

i tryed to do this in c++ code. someone can say me what is wrong? this is the code:

#include "gazebo/SetModelState.h"

...

        geometry_msgs::Pose start_pose;
        start_pose.position.x = 0.0;
        start_pose.position.y = 0.0;
        start_pose.position.z = 2;
        start_pose.orientation.x = 0.0;
        start_pose.orientation.y = 0.0;
        start_pose.orientation.z = 0.0;
        start_pose.orientation.w = 0.0;

        geometry_msgs::Twist start_twist;
        start_twist.linear.x = 0.0;
        start_twist.linear.y = 0.0;
        start_twist.linear.z = 0.0;
        start_twist.angular.x = 0.0;
        start_twist.angular.y = 0.0;
        start_twist.angular.z = 0.0;

        gazebo::ModelState modelstate;
        modelstate.model_name = (std::string) "robovolc";
        modelstate.reference_frame = (std::string) "world";
        modelstate.pose = start_pose;
        modelstate.twist = start_twist;

        ros::ServiceClient client = n.serviceClient<gazebo::SetModelState>("/gazebo/set_model_state");
        //ros::ServiceClient client = n.serviceClient<gazebo::SetModelState>("/gazebo/SetModelState");

        gazebo::SetModelState setmodelstate;
        setmodelstate.request.model_state = modelstate;
        client.call(setmodelstate);

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answered 2012-02-09 20:28:17 -0600

Maurizio88
155 ●21 ●24 ●31

i solved the problem! the line

ros::NodeHandle n;

wasn't visible for the call to node. i rewrote it close to the code.

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answered 2012-02-08 09:15:49 -0600

hsu
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Please see here for a similar question/answer.

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answered 2012-02-08 00:41:23 -0600

DimitriProsser

11163 ●79 ●116 ●169

If you're using Electric, you should use the package gazebo_msgs instead of gazebo for your message and service descriptions.

Secondly, could you edit your question to include the error that you are receiving so that we can help you better?

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so, should i write ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state"); ? after that? i included #include "gazebo/SetModelState.h". when i do rosmake my_package i have error!

Maurizio88 ( 2012-02-08 01:09:56 -0600 )edit

Are you running diamondback or electric?

DimitriProsser ( 2012-02-08 01:16:04 -0600 )edit

electric. actually, i have a lot of doubts about services. can i call the service /gazebo/set_model_state from my own package? is it the right way?

Maurizio88 ( 2012-02-08 01:21:42 -0600 )edit

You can call a service from anywhere. Did you include `<depend package="gazebo_msgs" />` in your manifest.xml?

DimitriProsser ( 2012-02-08 01:30:50 -0600 )edit

yes, i dit it.

Maurizio88 ( 2012-02-08 01:36:36 -0600 )edit

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answered 2012-02-09 00:20:57 -0600

Maurizio88
155 ●21 ●24 ●31

I modified the code, it's not so different. i posted below the error message when i do rosmake.

#include <ros/ros.h>
#include "gazebo_msgs/SetModelState.h"

        geometry_msgs::Pose start_pose;
        start_pose.position.x = 0.0;
        start_pose.position.y = 0.0;
        start_pose.position.z = 2;
        start_pose.orientation.x = 0.0;
        start_pose.orientation.y = 0.0;
        start_pose.orientation.z = 0.0;
        start_pose.orientation.w = 0.0;

        geometry_msgs::Twist start_twist;
        start_twist.linear.x = 0.0;
        start_twist.linear.y = 0.0;
        start_twist.linear.z = 0.0;
        start_twist.angular.x = 0.0;
        start_twist.angular.y = 0.0;
        start_twist.angular.z = 0.0;

        gazebo_msgs::ModelState modelstate;
        modelstate.model_name = (std::string) "robovolc";
        modelstate.reference_frame = (std::string) "world";
        modelstate.pose = start_pose;
        modelstate.twist = start_twist;

        ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state");
        gazebo_msgs::SetModelState setmodelstate;
        setmodelstate.request.model_state = modelstate;

        if (client.call(setmodelstate))
        {
            ROS_INFO("BRILLIANT!!!");
        }
        else
        {
            ROS_ERROR("Failed to call service ");
            return 1;
        }

[ 63%] Built target ROSBUILD_genmsg_cpp make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [ 73%] Built target ROSBUILD_genmsg_lisp make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [ 73%] Built target rospack_genmsg make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [ 73%] Built target rosbuild_precompile make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [ 78%] Built target add_two_ints_client make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [ 84%] Built target add_two_ints_server make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [ 94%] Built target ar_multi make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: uscita dalla directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" make[3]: ingresso nella directory "/home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/build" [100%] Building CXX object CMakeFiles/ar_single.dir/src/ar_single.o In file included from /home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/include/ar_pose/ar_single.h:45:0, from /home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/src/ar_single.cpp:28: /opt/ros/electric/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h: In static member function ‘static sensor_msgs::Image_<std::allocator<void> >::Ptr sensor_msgs::CvBridge::cvToImgMsg(const IplImage, std::string)’: /opt/ros/electric/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:408:55: warning: ‘static bool sensor_msgs::CvBridge::fromIpltoRosImage(const IplImage, sensor_msgs::Image&, std::string)’ is deprecated (declared at /opt/ros/electric/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:307) /home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/src/ar_single.cpp: In constructor ‘ar_pose::ARSinglePublisher::ARSinglePublisher(ros::NodeHandle&)’: /home/mauro/ros_workspace/ccny-ros-pkg/ccny_vision/ar_pose/src/ar_single.cpp:41:77: warning: ‘sensor_msgs::CvBridge::CvBridge()’ is deprecated (declared at /opt/ros/electric/stacks/vision_opencv/cv_bridge/include ... (more)