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How to get global pose of a specific model's link in a gazebo world?

asked 2016-06-23 08:58:49 -0500

Constantine gravatar image

How do I get exact pose of a specific link of a model in Gazebo simulated world? To get model's (i.e. base_link) global position I call rosservice call gazebo/get_model_state '{model_name: my_model_name} but what I really need is a global pose of my lidar's link.

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answered 2016-06-23 16:46:06 -0500

You can get a list of gazebo links and their states from /gazebo/link_states topic.

Here is a python script that republishes poses in geometry_msgs/Pose format. You can find the names of links either in Gazebo GUI or on /gazebo/link_states topic itself.

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Asked: 2016-06-23 08:58:49 -0500

Seen: 3,986 times

Last updated: Jun 23 '16