Hi all,

(I am new to writing im markdown, forgive me !)

Envirorment

• Ros2 Eloquent
• Ubuntu 18.04 LTS
• Gazebo 9.0
• x86 computer

Problem

Pleas forgive my possible clumsiness of describing the situation...

I am trying to visualize an odometry msg from gazebo in Rviz2 using the libgazeborosp3d.so plugin.

I have setup a seperate model and plugin folder under a Gazebo folder in my home dir.

The plugins are then copied from the colcon ws build folder into my gazebo plugin dir.

Plugin in the model .sdf file

libgazeborosp3d.so:

<?xml version="1.0" ?>
<sdf version='1.6'>
  <model name='botsy'>
    <link name='base_link'>
      <(properties in link is not shown in question)>
    </link>
    <!-- P3D publishes ground truth data of object -->
    <plugin name="gazebo_ros_p3d_botsy" filename="libgazebo_ros_p3d.so">
      <ros>
        <argument>odom:=botsy/odom/base_link</argument>
      </ros>
      <body_name>base_link</body_name>
      <frame_name>odom</frame_name>
      <update_rate>10</update_rate>
      <xyz_offset>0.0 0.0 0.0</xyz_offset>
      <rpy_offset>0.0 0.0 0.0</rpy_offset>
      <gaussian_noise>0.01</gaussian_noise>
    </plugin>
  </model>
<\sdf>

libgazeborosimu_sensor.so (adding for completeness, I am not trying to view this in rviz2)

<plugin filename="libgazebo_ros_imu_sensor.so" name="RosImuPlugin_zed_mini">
    <ros>
        <argument>~/out:=zed_mini_imu/imu</argument>
        <frame_name>zed_mini_imu_frame</frame_name>  
    </ros>
</plugin>

Launching gazebo and adding model

When launching gazebo, using:

"ros2 launch gazebo_ros gazebo.launch.py"

Then in gazebo i add the model, i get some warnings in the terminal:

```

GAZEBO_PLUGIN_PATH :/home/void/Gazebo_botsy/plugin
GAZEBO_MODEL_PATH :/home/void/Gazebo_botsy/models
LD_LIBRARY_PATH /opt/ros/eloquent/opt/yaml_cpp_vendor/lib:/opt/ros/eloquent/opt/rviz_ogre_vendor/lib:/opt/ros/eloquent/lib/x86_64-linux-gnu:/opt/ros/eloquent/lib:/home/void/Gazebo_botsy/plugin
Gazebo setup OK!
ROS2 setup OK!
[INFO] [launch]: All log files can be found below /home/void/.ros/log/2021-02-19-11-07-34-736982-NotAVm-23394
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [23408]
[INFO] [gzclient   -2]: process started with pid [23410]
[gzserver-1] [WARN] [rcl]: Found remap rule '~/out:=zed_mini_imu/imu'. This syntax is deprecated. Use '--ros-args --remap ~/out:=zed_mini_imu/imu' instead.
[gzserver-1] [WARN] [rcl]: Found remap rule '~/out:=sensor_aux/imu'. This syntax is deprecated. Use '--ros-args --remap ~/out:=sensor_aux/imu' instead.
[gzserver-1] [WARN] [rcl]: Found remap rule 'odom:=botsy/odom/base_link'. This syntax is deprecated. Use '--ros-args --remap odom:=botsy/odom/base_link' instead.
[gzserver-1] [WARN] [gazebo_ros_p3d_botsy]: <frame_name> [odom] does not exist.
[gzserver-1] [WARN] [rcl]: Found remap rule 'odom:=botsy/odom/zed_mini'. This syntax is deprecated. Use '--ros-args --remap odom:=botsy/odom/zed_mini' instead.
[gzserver-1] [WARN] [gazebo_ros_p3d_zed_mini]: <frame_name> [odom] does not exist.
[gzserver-1] [WARN] [rcl]: Found remap rule 'odom:=botsy/odom/aux_imu'. This syntax is deprecated. Use '--ros-args --remap odom:=botsy/odom/aux_imu' instead.
[gzserver-1] [WARN] [gazebo_ros_p3d_imu]: <frame_name> [odom] does not exist.

```

viewing the Ros topics gives:

```

/botsy/odom/aux_imu
/botsy/odom/base_link
/botsy/odom/zed_mini
/clock
/parameter_events
/rosout
/sensor_aux/imu
/zed_mini_depth/camera_info
/zed_mini_depth/depth/camera_info
/zed_mini_depth/depth/image_raw
/zed_mini_depth/image_raw
/zed_mini_depth/points
/zed_mini_imu/imu
/zed_mini_rgb/camera_info
/zed_mini_rgb/image_raw

```

The /botsey/odom/base_link topic has the following header:

´´´

header:
  stamp:
    sec: 512
    nanosec: 452000000
  frame_id: odom
child_frame_id: botsy::base_link
pose:
  pose:
    position:
      x: 0.029298000000005445
      y: -0.051209999999999437
      z: 0.053999999992331495
    orientation:
      x: -4.83408196325272e-15
      y: 4.9896276853249836e-14
      z: -1.3318259918022349e-15
      w: 1.0

´´´

Trying to vizulize in rviz2

I launch rviz2 using

"ros2 run rviz2 rviz2"

First it looks like this (can't poste picture, I have to few points :'( ):

link:imgur_link (https://i.imgur.com/doCFFvT.png)

I try to tie the tf's together with:

"ros2 run tf2ros statictransform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 1.0 map odom"

Then It looks like this (abit optimistic since something is happening)

link:imgur_link (https://i.imgur.com/c1Oz8Zh.png)

Conclusion

This where I am stuck, I would have hoped that the "dynamic transforms" from the Gazebo plugins would create the "botsy::base_link" frame and add that to rviz...

Any help will be greatly appreciated