![]() | 1 | initial version |
The best way to get the position and more info of a link is using this pluin in your urdf:
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>base_pose_ground_truth</topicName>
<gaussianNoise>0</gaussianNoise>
<frameName>/map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
(it also works with rostopic echo..... )