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How to get gazebo topic using c++ and ros ?

asked 2016-03-09 10:16:38 -0500

zuygar gravatar image

Hi, I am using ROS, gazebo and c++ together to perform some tasks. In gazebo I launched "turtlebot_world.launch. It published " /gazebo/default/pose/info " which gives the information of robots position in gazebo. How can I take this topic in c++, does anyone knows ?

Also I have the function below but doesn't take any information or topic:

void subscribe_gazebo_pose()
    ros::NodeHandle ndh;
    ros::ServiceClient gms_c = ndh.serviceClient<gazebo_msgs::GetModelState>("gazebo/default/pose/info");
    gazebo_msgs::GetModelState getmodelstate;;

    geometry_msgs::Pose pose;
    pose.position.x = getmodelstate.response.pose.position.x;
    pose.position.y = getmodelstate.response.pose.position.y;
    cout << pose.position.x << endl;
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answered 2016-03-10 03:56:37 -0500

I think you might be confusing message topics with services. is /gazebo/default/pose/info a topic, can you see if when you run "rostopic list" from a command line?

The code you have posted above attaches to a service provider not a message topic.

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I can't see any topic like above running "rostopic list". But if I run "gztopic list" I can see some topics like this:







zuygar gravatar image zuygar  ( 2016-03-10 06:54:23 -0500 )edit

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Asked: 2016-03-09 10:16:38 -0500

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Last updated: Mar 10 '16