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Getting bounding box of model(object)

Hello all,

I am pretty new to Gazebo so please excuse me if this query sounds to basic.

I want to have the bounding box of objects in the gazebo. With the gazebo model state publisher I get the pose but not the bounding box. Is there something already existing to get the same? Or is there a way to get the bounding box?

Thank you in advance.

Waiting for you responses.

Asked by niranjan_187 on 2015-11-18 09:57:10 UTC

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Answers

i just find it on gazebo source code ^^ $ grep "boundingbox" * -ri

use below code:

gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
rendering::VisualPtr visual = scene->GetVisual("your model name");
math::Box boundingBox = visual->GetBoundingBox();

< reference >

Asked by mysna on 2015-11-19 23:26:07 UTC

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Hey! Do you know any way to do it in Python? Should it be similar right?

Asked by espetro on 2019-09-21 13:06:35 UTC

Hi,

you will probably need to write a plugin where you can query for the bounding box.

math::Box my_bb = my_model->GetBoundingBox()

Cheers, Andrei

Asked by AndreiHaidu on 2015-11-20 02:07:17 UTC

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