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Gazebo & ROS Subscriber and Publisher C++

asked 2016-06-30 08:51:43 -0500

justinkgoh gravatar image

Hello all, I am new to ROS and I am trying to write a subscriber and publisher c++ code to talk with Gazebo. I want to get the states of each link and be able to publish to each link to control its joint angles.

I was successfully able to control my model in Gazebo via a rostopic pub command and am struggling to write a c++ code to do the same. Similarly, I have not been able to write any code to get the link states. I was able to get code working to subscribe to the /joint_states, but this does not reflect the link states in Gazebo.

Any help would be appreciated!

Ubuntu: 14.04 LTS ROS: Indigo Gazebo: 2.2.3

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answered 2016-07-01 08:12:59 -0500

kramer gravatar image

It's not clear to me whether a gazebo plugin is necessary for what you want, so decide that before pursuing the following.

If it is, here are a couple gazebo plugin tutorial links (from the link above).

I'm leaving that sparse because I've found the gazebo tutorials to be, let's say, unhelpful -- call it information overload. What did work for me was to look at and learn from already written plugins as examples (like those from the ROS simulation github repository).

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I apologize if what I wrote is confusing. I am not a computer science major. Is there anything I can provide that would be helpful in clearing whether I would need a gazebo plugin or not. I would like to stay away from plugins if possible since my programming knowledge is limited.

justinkgoh gravatar imagejustinkgoh ( 2016-07-05 09:56:37 -0500 )edit

Update: I was able to get the subscriber working and now I am having issues with the publisher.

justinkgoh gravatar imagejustinkgoh ( 2016-07-06 12:26:54 -0500 )edit

A plugin might be needed if the current topics don't provide needed functionality. If your issue is just duplicating CLI commands in code, then disregard my original answer, I mis-interpreted. If, OTOH, the sim isn't publishing link_states, then you might need a plugin.

kramer gravatar imagekramer ( 2016-07-09 09:08:05 -0500 )edit

I managed to get it working without using a plugin. Thanks for your time and help!

justinkgoh gravatar imagejustinkgoh ( 2016-07-11 14:53:13 -0500 )edit

hello @jutinkgoh i have the issue, please can you tell me how you did to solve that?

samo gravatar imagesamo ( 2018-06-26 08:21:22 -0500 )edit

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Asked: 2016-06-30 08:51:43 -0500

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Last updated: Jul 01 '16