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I want get the robot position(something like the coordinate x,y,z) , I know that hector_gazebo_plugins can do this,but I don't know how to use the API,did something more simple to get the robot position in gazebo?
The answer here applies to your use case, if you are interested in getting the robot pose as a ROS message.
Simple. Use GetPose utility. For eg:
gazebo::math::Pose pose = this->model->gazebo::physics::ModelState::GetPose();
You can convert it into your preferred coordinate system through simple transformation.
Can you post an example here? I am a new guy and don't know how to finish this. Thanks!
Asked: 2016-09-28 02:46:26 -0600
Seen: 8,377 times
Last updated: Nov 13 '16
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