Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

asked 2018-04-08 00:31:42 -0600

malhar
19 ●5 ●5 ●11

updated 2018-04-08 11:02:39 -0600

Hi,

I am currently working on a drone related project and using gazebo for simulation

In order to measure accuracy of my localisation, I need to know the ground truth values. Is there some way in Gazebo to continuously track/store the actual/true/ground truth 6D pose, ie the rotation and translation w.r.t. to a fixed frame like the world frame.

I wish to create something like the following -

image description

Thanks a lot !

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answered 2018-04-10 06:43:53 -0600

malhar
19 ●5 ●5 ●11

updated 2018-04-10 06:44:32 -0600

Hi,

While @smorad's answer helped , the mentioned topic (/gazebo/model_states) did not provide timing values. Also it provides the actual pose for all models and hence requiring additional filtering for finding the actual pose of the desired object.

If using Gazebo + ROS, the /ground_truth/state topic can be enabled in the URDF ( as seen here and here ) of the required ROS robot ( which is then converted to a Gazebo model in the generated SDF file), making it the required solution.

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answered 2018-04-08 16:19:30 -0600

smorad
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You should be able to use gz topic for this. You should take a look at the different topics, I think one of them may be model_state or something that will contain pose data.

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Thanks a lot for the info, I will look into it soon and mark this as the answer if it works out. Might take a day or two.

malhar ( 2018-04-09 10:48:43 -0600 )edit

Hi, I tried using it and it's almost what I want but unfortunately I've run into an issue. The topic does not have any timing information and hence if I want to plot it against my current estimate (as shown in image above), I want it to be at the same time instant ( or approximately close). Any clue on how to deal with this ?

malhar ( 2018-04-09 16:22:34 -0600 )edit

Should I try using the `/ground_truth/state` topic instead ?

malhar ( 2018-04-09 16:32:04 -0600 )edit

Are you using ROS alongside Gazebo? Ros topics also have timing information attached to them.

Raskkii ( 2018-04-10 02:52:38 -0600 )edit

Hi yes I am using Gazebo + ROS , but I needed a topic that provides both - the ground truth and timing values.

malhar ( 2018-04-10 06:39:29 -0600 )edit

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Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

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Continuously Tracking and storing 6D pose of an object in Gazebo simulation.