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how to get robot state vector from gazebo?

asked 2012-09-10 06:54:52 -0500

Peter Listov

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updated 2014-01-28 17:13:37 -0500

ngrennan
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Hallo. I've got teleoperating car-like robot model in Gazebo. Also I have hokuyo lidar on it. Is there any simple method to get robot state vector (pose and twist) in global (gazebo) coordinate system?
I need this for publishing odometry in simulation. I've several methods like laser_scan_matching or adding special p3d-controller, but cannot i use them cause my real robot does ot have lidar and uses another control principles. Or I need to calculate wheel-odometry like i do on my real robot?

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answered 2012-09-11 06:12:56 -0500

hsu
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You can do one of the following:

subscribe to gazebo's ~/link_states or ~/model_states,
use GazeboRosP3D plugin from gazebo_plugins or,
write your own plugin to get the specific information you need from your models / worlds.

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Asked: 2012-09-10 06:54:52 -0500

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Last updated: Sep 11 '12

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