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How to publish joint angle using plugins?

asked 2016-04-20 10:51:06 -0500

wangshanren gravatar image

we know that gazebo already publish rostopics and rosservices which contains Joint position ,velocity and efforts.Also we can get joint angle using a model plugin . The question is how to publish it as a rostopic.I'v seen examples about publishing image data using plugin,after editing the plugin,they all have some tags in .world file between <plugin> </plugin>.
However i don't konw how to set my own,so is there some methods i can use or the whole thing is unnecessary?

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I had a tough time understanding your question, do you mind trying to rephrase it a little? Are you just trying to make a gazebo plugin that publishes joint angles over a ROS topic?

pcdangio gravatar imagepcdangio ( 2016-04-21 09:46:15 -0500 )edit

Yes,but this morning i found the rosservice gazebo provided,In the response we can get the angle position,Thanks anyway!

wangshanren gravatar imagewangshanren ( 2016-04-21 22:47:45 -0500 )edit

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answered 2016-04-20 20:34:59 -0500

wangshanren gravatar image

updated 2016-04-21 22:44:02 -0500

Okay,the truth is in rosservice that gazebo published,using command below: get_jnt_state_client.call(get_joint_state_srv_msg); q1.push_back(get_joint_state_srv_msg.response.position[0]); Here,the position is the ANGLE !!!

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Asked: 2016-04-20 10:45:00 -0500

Seen: 511 times

Last updated: Apr 21 '16