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publish from gazebo

asked 2012-03-20 23:59:08 -0500

hmmm gravatar image

updated 2012-03-22 20:13:43 -0500

kwc gravatar image

hi guys, i want to publish from a gazebo plugin. How can i do that? In the same way as i publish from a common node? so do i have to write a main() and while{} and so on? I want to publish torque in order to plot it with rxplot. this is the part of the plugin:

torque.x = inertia.x *  controllers_.roll.update(roll_command, euler.x, angular_velocity.x, dt);
torque.y = inertia.y *  controllers_.pitch.update(pitch_command, euler.y, angular_velocity.y, dt);

body_->SetTorque(torque);

i try following, is this the right way?

ros::Publisher wrench_publisher;
geometry_msgs::Wrench moment;
int main(int argc, char **argv)
{
  ros::init(argc, argv, "hector_quadrotor_gazebo_plugins");
  ros::NodeHandle node_handle;
  ros::Rate loop_rate(100);
  wrench_publisher_ = node_handle.advertise<geometry_msgs::Wrench>("force", 1);
  while(ros::ok())
  {
  ros::spinOnce();
  moment.torque.x = torque.x ;
  moment.torque.y = torque.y;

  wrench_publisher.publish(moment);
  }
  return 0;
}
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answered 2012-03-22 16:08:01 -0500

hsu gravatar image

In fuerte, I just updated the plugin template if it's of any help

gazebo_ros_template.h and gazebo_ros_template.cpp

Similarly in electric: gazebo_ros_template.h and gazebo_ros_template.cpp

The simplest example I can think of in electric is the sim time publisher.

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answered 2012-03-21 04:50:15 -0500

DimitriProsser gravatar image

You cannot put a main() in a Gazebo plugin because it runs as part of Gazebo's main(). You'd have to put your publish functions in one of the interface methods (probably the update() method).

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Asked: 2012-03-20 23:59:08 -0500

Seen: 274 times

Last updated: Mar 22 '12