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argument problem to publish msg to a certain topic

asked 2012-04-26 23:25:14 -0500

grge gravatar image

updated 2012-04-27 13:41:05 -0500

joq gravatar image

hello. i roslaunch a turtlebot in an empty world, and i am trying to send data in a topic but i am having a problem. the topic is /gazebo/set_model_state, which have a type of gazebo_msgs/ModelState. so the arguments i have to include into rostopic -pub command are:

string model_name
geometry_msgs/Pose pose
  geometry_msgs/Point position
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation
    float64 x
    float64 y
    float64 z
    float64 w
geometry_msgs/Twist twist
  geometry_msgs/Vector3 linear
    float64 x
    float64 y
    float64 z
  geometry_msgs/Vector3 angular
    float64 x
    float64 y
    float64 z
string reference_frame

i've read the tutorials, but they didn't help me with it. please, if anyone nose how to publish msg to that, help me!

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answered 2012-04-27 13:58:01 -0500

michikarg gravatar image

updated 2012-04-27 14:00:29 -0500

I know there is a way to publish such messages via command line, but for more complex messages i recommend to write a simple publisher like in the tutorial:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28python%29

You can use the same code to write a simple publisher with the only difference that instead of a string you will need to post a pose. Code should look similar to the following:

import roslib; roslib.load_manifest('geometry_msgs')    
(...)
from geometry_msgs.msg import PoseStamped
(...) 
my_pose = Pose()
my_pose.position.x = 0.1
my_pose.position.y = 0.2
(...)
        pub.publish(my_pose)
(...)
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Asked: 2012-04-26 23:25:14 -0500

Seen: 558 times

Last updated: Apr 27 '12