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Are there any default model topics?

asked 2013-02-24 23:43:24 -0500

dereck gravatar image

updated 2013-02-25 07:24:14 -0500

I made a model for a Pioneer 3AT Mobile robot and looked at the output from 'gztopic list' but I only found one related topic:

/gazebo/default/Pioneer3AT/joint_cmd

1) Is there an example of how to publish to the /joint_cmd topic?

2) Are there any other default topics available such as a /joint_state or /pose available?

3) Do I need to write a model plugin to implement those functions?

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answered 2013-02-27 00:41:23 -0500

iche033 gravatar image

Here is an example of a Gazebo plugin for controlling a vehicle with joints.

To publish to Gazebo topics, you can make use of gazebo transport. See this example on how to write a program that publishes to gazebo topics (the example uses custom msgs which should not be needed in your case). Supported msg descriptions can be found here

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Also, the joint_cmd topics are used by the Joint Control widget on the right hand side of the gazebo window.

scpeters gravatar imagescpeters ( 2013-03-02 01:17:48 -0500 )edit
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Asked: 2013-02-24 23:43:24 -0500

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Last updated: Feb 27 '13