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Getting bounding box of model(object)

asked 2015-11-18 08:57:10 -0500

niranjan_187 gravatar image

Hello all,

I am pretty new to Gazebo so please excuse me if this query sounds to basic.

I want to have the bounding box of objects in the gazebo. With the gazebo model state publisher I get the pose but not the bounding box. Is there something already existing to get the same? Or is there a way to get the bounding box?

Thank you in advance.

Waiting for you responses.

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answered 2015-11-20 01:07:17 -0500

AndreiHaidu gravatar image

Hi,

you will probably need to write a plugin where you can query for the bounding box.

math::Box my_bb = my_model->GetBoundingBox()

Cheers, Andrei

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answered 2015-11-19 22:26:07 -0500

mysna gravatar image

updated 2015-11-19 22:27:32 -0500

i just find it on gazebo source code ^^ $ grep "boundingbox" * -ri

use below code:

gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
rendering::VisualPtr visual = scene->GetVisual("your model name");
math::Box boundingBox = visual->GetBoundingBox();

< reference >

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Asked: 2015-11-18 08:57:10 -0500

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Last updated: Nov 20 '15