How to publish joint angle using plugins?

we know that gazebo already publish rostopics and rosservices which contains Joint position ,velocity and efforts.Also we can get joint angle using a model plugin . The question is how to publish it as a rostopic.I'v seen examples about publishing image data using plugin,after editing the plugin,they all have some tags in .world file between .
However i don't konw how to set my own,so is there some methods i can use or the whole thing is unnecessary?

Asked by wangshanren on 2016-04-20 10:45:00 UTC

Comments

I had a tough time understanding your question, do you mind trying to rephrase it a little? Are you just trying to make a gazebo plugin that publishes joint angles over a ROS topic?

Asked by pcdangio on 2016-04-21 09:46:15 UTC

Yes,but this morning i found the rosservice gazebo provided,In the response we can get the angle position,Thanks anyway!

Asked by wangshanren on 2016-04-21 22:47:45 UTC

Answers

Okay，the truth is in rosservice that gazebo published,using command below: get_jnt_state_client.call(get_joint_state_srv_msg); q1.push_back(get_joint_state_srv_msg.response.position[0]); Here,the position is the ANGLE !!!

Asked by wangshanren on 2016-04-20 20:34:59 UTC