Ask Your Question

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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



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

Seen: 2,920 times

Last updated: Jun 23 '16