I am writing a Gazebo World Plugin where I need an information about the position of certain model with respect to world origin. I am using Gazebo-9 and for this version of Gazebo I didn't find any working solution. Can anybody tell me how to achieve this?
// Get model
auto model = _world->ModelByName("model_name");
// Get pose
auto pose = model->WorldPose();
Checking the API documentation should help you in the future:
I couldn't find the WorldPose() method in Model.hh file on my machine, so I ended up using
physics::ModelPtr model = this->world->ModelByName(model_name);
physics::LinkPtr link = model->GetLink(link_name);
ignition::math::Pose3d pose = link->WorldCoGPose();
ignition::math::Vector3<double> position = pose.Pos();
double pos[3] = {position.X(), position.Y(), position.Z() };
First, I forgot to include
#include <gazebo/physics/physics.hh>
So that's why nothing seemed to work.
Asked: 2018-12-17 02:15:08 -0600
Seen: 6,759 times
Last updated: Dec 19 '18
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