hector_quadrotor how to supply joint states?

asked 2021-03-13 14:47:35 -0600

akosodry gravatar image

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.

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