republishing a Gazebo topic to a ROS topic

edit

Hi,

I'm currently working on trying to get a gazebo topic into the ROS topic list so I can access it through the matlab interface with ROS.

Right now I managed to create a subscriber to the gazebo topic in question (gazebo/default/physics/contacts) but I can't figure out exactly what type of ROS message it is to allow me to publish it again in ROS.

Here is the code:

import trollius
from trollius import From

import pygazebo
import pygazebo.msg.contacts_pb2
@trollius.coroutine
def publish_loop():
    manager = yield From(pygazebo.connect()) 

    def callback(data):
        message = pygazebo.msg.contacts_pb2.Contacts.FromString(data)
        print(message)

    subscriber = manager.subscribe('/gazebo/default/physics/contacts',
                     'gazebo.msgs.Contacts',
                     callback)

    yield From(subscriber.wait_for_connection())
    while(True):
        yield From(trollius.sleep(1.00))
        print('wait...')
    print(dir(manager))
    import logging

    logging.basicConfig()

    loop = trollius.get_event_loop()
    loop.run_until_complete(publish_loop())

So, my problem could be solved in two ways:

1. Figuring out a way to find the corresponding essage type in ROS to publish it.
2. Figuring out a simpler way to do what i want to do.

Currently I'm working on both possibilities but I'm having a hard time...

Thank you for your help!