How to modify a model plugin to publish data to a rostopic or ros node?
I am trying to work with gazebo_motor_model.cpp. I need to visual some data that is calculated inside the plugin such as force, drag_torque etc. Is there a way i can publish this data to a topic or node so that i can visualize it using rqt.
P.S. - I am working on ROS kinetic with gazebo 7