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How to get the angle value of the base link of a floating based robot in Gazebo9

Acoording to the api gazebo 9.0 link. for example ,I can get

this->model->GetLink("link1")->WorldPose();
this->model->GetLink("link1")->WorldLinearVel();
this->model->GetLink("link1")->WorldAngularVel();
this->model->GetLink("link1")->WorldLinearAccel();

But I can not find a way to get the angle value of the base link of a floating based robot like

this->model->GetLink("link1")->WorldAngular();
this->model->GetLink("link1")->WorldTwist();

Is there any suggestion? Thank you.

How to get the angle value of the base link of a floating based robot in Gazebo9

Acoording According to the api gazebo 9.0 link. for example ,I can get

this->model->GetLink("link1")->WorldPose();
this->model->GetLink("link1")->WorldLinearVel();
this->model->GetLink("link1")->WorldAngularVel();
this->model->GetLink("link1")->WorldLinearAccel();

But I can not find a way to get the angle value of the base link of a floating based robot like

this->model->GetLink("link1")->WorldAngular();
this->model->GetLink("link1")->WorldTwist();

Is there any suggestion? Thank you.