What is the `/gazebo/model_state` topic?
Hello, I'm working on the ROS melodic of Ubuntu 18.04.
I'm in the setting of a simulation environment with gazebo, and I need to get all the objects' pose data every time so I'm going to adopt /gazebo/model_states
which includes all the pose
information in that gazebo environment.
(Just so you know, /gazebo/model_states
comes from /gazebo
node and its type is gazebo_msgs/ModelStates
. And the object
literally means the model which is spawned on the gazebo field, like walking_person
or SUV car
and anything.)
However, I just noticed that not all objects are in /gazebo/model_state
at the beginning, although /gazebo/model_state
gets all the objects after a few seconds.
I have this kind of feeling that this issue is related to gazebo-spawn probably.
Anyone who've been ever seen this kind of error or familiar with /gazebo/model_states
, would you please give me helpful advice?
Thanks in advance. :)
Just to be clear, what do you mean by objects? Are links missing in your model when you access the model_state message?
@christophecricket Sorry for my poor description, I just modified my text. The issue is
/gazebo/model_states
doesn't include all the objects (the model of gazebo field likewalking_person
orSUV_car
and so on.) , although it gets all the state data wrt gazebo's model.And you're sure that all these object are individual models in gazebo, and not just individual links in one model? Because then maybe
/gazebo/link_states
has the poses you want@christophecricket yes, they are all independent of each other. I'll also check
/gazebo/link_states
too.