How I can access joints values like angle_0?

Hi, how I can access the angle_0 value from a joint? I want to simulate an encoder and I need that value to register the wheel rotation. I will attach a photo below.

Photo: https://imgur.com/a/xMkcRq2

Asked by polestar1998 on 2021-02-24 16:41:09 UTC

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Answers

One option is to write a plugin, probably a model plugin, that uses the model to get the joint, and then call Position/GetPosition

Another is to use the gazebo transport topics which already publish joint information

Yet another, if you're using ROS, is to look at ros topic which publish joint information

Asked by Peter Mitrano on 2021-02-26 22:27:13 UTC