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Gazebo has a position_3d plugin that will give you the robot's height. You can use this plugin like so:
<gazebo>
<controller:gazebo_ros_p3d name="p3d_base_controller" plugin="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>base_pose_ground_truth</topicName>
<gaussianNoise>0</gaussianNoise>
<frameName>map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
<interface:position name="p3d_base_position"/>
</controller:gazebo_ros_p3d>
</gazebo>
This plugin will publish a sensor_msgs/Odometry
message that you can extract height from.