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Hi there, Is it possible to obtain the co-ordinates of an obstacle that we manually add in Gazebo ? I want to write a ros node such that the user adds the obstacle initially and then the node obtains that position of obstacle from Gazebo and modifies its x-cordinate. Is this possible ?
You can probably achieve what you want by using the Gazebo services that are available when you start gazebo with ROS support. Once Gazebo is started you can do a
rosservice list
and you should multiple services offered by Gazebo that allow retrieving model properties, spawning models, moving them etc (here are the srv definitions).
Most services offered are also described in the Gazebo "Connect to ROS" tutorial.
Yes, you can cal ROS service from the command line (by typing "rosservice call ...", but you can of course also call them from code (see Python or C++ tutorials for "Writing a Simple Service and Clieant" here: http://wiki.ros.org/ROS/Tutorials ).
yes - spawn_model, from the tutorial is an example of that, a node that takes arguments from the command line . The code for that is here https://github.com/ros-simulation/gaz...
I would try adding the model using spawn_model as is from the command line to check the file works.
Once that is confirmed i would edit spawn_model to add the model programatically and test that, but not integrate it into the husky node, as it's doing a different job.
Asked: 2015-08-17 00:06:17 -0500
Seen: 1,380 times
Last updated: Aug 17 '15
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