hector_quadrotor how to supply joint states?
Hi,
I have calculated a time array of XYZ RPY data, which i would like to employ as the "real joint states" of the hector quadrotor in gazebo. Namely, i don't want to supply the data to the /command/pose
topic, since that way the controller of the quadrotor adds extra dynamics to my data, instead i would like somehow to use my XYZRPY data as the true state of the quadrotor in gazebo (i.e., i want to use gazebo for pure visualization based on my time series data).
I spawn the quadrotor with the standard command: roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
I originally (naively) thought that i would manipulate the joint_state
topic, however nothing is published there, therefore i assume that publishing to that topic will not result in what i want to achieve.
I saw that gazebo publishes the /ground_truth/state
topic, which nicely represents the current state of the quadrotor. Should i hack/manipulate this topic by publishing my custom data to this topic in order to see the quadrotor move as i describe in the custom data? (e.g., somehow i would neglect the gazebo's /ground_truth/state
topic and i would supply mine with a topic mux maybe).
Is this a wrong approach? Can you recommend an effective approach to solve the aforementioned issue?
Thank you in advance.
Asked by akosodry on 2021-03-13 15:47:35 UTC
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