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 <plugin> </plugin>.
However i don't konw how to set my own,so is there some methods i can use or the whole thing is unnecessary?
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?
Yes,but this morning i found the rosservice gazebo provided,In the response we can get the angle position,Thanks anyway!