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If you are not targeting a model link, you may leave any related field empty. This will reference the world frame.

If you are using the ROS API, then it also lets you have "world" or "map" specified.

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp#L725

If you are not targeting a model link, you may leave any related field empty. This will reference the world frame.

If you are using the ROS API, then it also lets you have "world" or "map" specified.specified as well.

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp#L725