Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

Hi,

Update: I have already asked this question on the Gazebo forum (here ) but have not received a reply. Hence This question is being asked in the expectation that someone using ROS + gazebo may have done something similar and can help out.

I am currently working on a drone related project and using gazebo for simulation

In order to measure accuracy of my localisation, I need to know the ground truth values. Is there some way in Gazebo to continuously track/store the actual/true/ground truth 6D pose, ie the rotation and translation w.r.t. to a fixed frame like the world frame.

I wish to create something like the following -

image description

Thanks!

Asked by malharjajoo on 2018-04-08 11:03:54 UTC

Comments

If you're asking about a Gazebo-only solution, you should post this question over at answers.gazebosim.org. If you're actually asking about how to receive such data in ROS, then this becomes a Gazebo plugins question, which we could keep open on this site.

Asked by gvdhoorn on 2018-04-08 11:20:23 UTC

Well I did ask on gazebo forum, but have not yet received a reply. Hence I considered asking here since people may have done projects using ROS + gazebo for such a thing.

Asked by malharjajoo on 2018-04-08 11:54:49 UTC

If/when you're cross-posting, always include a link to the other post. That way we can avoid split discussions.

Asked by gvdhoorn on 2018-04-08 12:27:51 UTC

Hi,

I have updated the question, could you kindly reopen it ?

Asked by malharjajoo on 2018-04-08 12:49:30 UTC

Your post at Gazebo Answers is 12 hours old. Both of these communities are run by volunteers, and it is Sunday: people probably have something better to do.

Summarising: please wait a little longer before cross-posting to other fora.

Asked by gvdhoorn on 2018-04-08 12:54:50 UTC