Custom_Bot get_model_state frame_id is "", and odom output

asked 2020-07-17 06:51:17 -0500

ridwan gravatar image

Hi, sorry it's a bit long question. i have a 4 wheel custombot, the problem is i dont have any odom output, when i use rosserver

rosservice call /gazebo/get_model_state "model_name: 'rover' "

i get frame id is blank, and linear and angular twist is near zero. Is there any way to make the twists 0 when the bot is not moving, also my main concern is why the frame_id is blank?

  seq: 3
    secs: 6778
    nsecs: 359000000
  frame_id: ''
    x: 0.914803052943
    y: -0.0530903805427
    z: 0.0999992861131
    x: 9.77827171294e-08
    y: -4.60199492012e-07
    z: -0.0135620999519
    w: 0.999908030493
    x: -2.27657820656e-05
    y: -0.000137324696237
    z: 0.0048809205918
    x: 5.48403843617e-06
    y: -1.14813782152e-06
    z: -1.01071109906e-05
success: True
status_message: "GetModelState: got properties"

and as i'm new, what is publishing here? and how do i get odometry output in position from my robot? as it is a custom robot i have these topic from my robot:


i'm using following plugin:

<plugin name="gazebo_ros_control" filename="">
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