How do I get human readable pose information from the pose/local/info topic?

asked 2021-04-26 14:10:20 -0500

I am trying to use Gazebo without ROS. I want to send the pose information of a model using a plugin that constantly broadcasts their pose to some autonomy software. I followed the topics subscription tutorial on gazebosim (http://gazebosim.org/tutorials?tut=to...) but after attempting to alter the topic to "pose/local/info" I got this to output in the terminal:

1: "iris1_ardu::iris1_ardu::iris::iris/imu_link" 3 { 1: 0xbe2b1f88226f6ec0 2: 0x3e593f00ae6a06f3 3: 0x3fc8f33caaa0de2b } 4 { 2: 0x3e88a30c018d5133 3: 0x3e5667d916fa4a73 4: 0xbe5cc8395acdbf71 5: 0x3fefffffffffff64 } 1: "iris1_ardu::iris1_ardu::iris::rotor_0" 3 { 1: 0x3fc0a3d6fcacb508 2: 0xbfcc28f5a9ec7b15 3: 0x3fcbe4e5eb9abfb0 } 4 { 2: 0x3e88a3bb2620ee0d 3: 0x3e566a8dc9734ca4 4: 0xbef9a0503c8a53cf 5: 0x3fefffffffd6f425 } 1: "iris1_ardu::iris1_ardu::iris::rotor_1" 3 { 1: 0xbfc0a3d707a2e279 2: 0x3fc99999bb8bfcda 3: 0x3fcbe4e753a7de0e } 4 { 2: 0x3e893f1bf9c8ae7a 3: 0x3e57d0bf6bf09da3 4: 0xbf17cc9ce9c7c50a 5: 0x3feffffffdc997a2 } 1: "iris1_ardu::iris1_ardu::iris::rotor_2" 3 { 1: 0x3fc0a3d70effbcd6 2: 0x3fcc28f5d9f0a2a2 3: 0x3fcbe4e74c4dbc9d }

It looks like the data is saved as a sort of nested dictionary type object, and the "DebugString()" function in the listener.cc file makes only the keys human readable. Any suggestions on how to decode this or possibly another way to go about getting pose data automatically for models in the simulation without ROS?

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