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I think you can do this by using the PosePublisher system. Here's an example from SubT:

   <plugin filename="libignition-gazebo-pose-publisher-system.so"
        name="ignition::gazebo::systems::PosePublisher">
        <publish_link_pose>true</publish_link_pose>
        <publish_sensor_pose>true</publish_sensor_pose>
        <publish_collision_pose>false</publish_collision_pose>
        <publish_visual_pose>false</publish_visual_pose>
        <publish_nested_model_pose>true</publish_nested_model_pose> <!-- this bit is important -->
        <use_pose_vector_msg>true</use_pose_vector_msg>
        <static_publisher>true</static_publisher>
        <static_update_frequency>1</static_update_frequency>
      </plugin>

You'll also need a ros_ign bridge and a TF broadcaster