Which gazebo topic contains velocity?
I'm running gazebo11 (without ROS) and have loaded a simple xacro file into gazebo. I would like to get the velocity and angular velocity of the various parts through a gazebo topic. Looks like /gazebo/default/pose/info
contains the position and orientation, but not the velocity or angular velocity.
Here's the current gazebo topics and their types (gz topic -l):
/gazebo/default/atmosphere Type: gazebo.msgs.Atmosphere
/gazebo/default/boxwheel/link_base/wrench Type: gazebo.msgs.Wrench
/gazebo/default/boxwheel/link_tilter/wrench Type: gazebo.msgs.Wrench
/gazebo/default/boxwheel/wheel/wrench Type: gazebo.msgs.Wrench
/gazebo/default/diagnostics Type: gazebo.msgs.Diagnostics
/gazebo/default/factory Type: gazebo.msgs.Factory
/gazebo/default/factory/light Type: gazebo.msgs.Light
/gazebo/default/gui Type: gazebo.msgs.GUI
/gazebo/default/gzclient_camera/cmd Type: gazebo.msgs.CameraCmd
/gazebo/default/joint Type: gazebo.msgs.Joint
/gazebo/default/light/modify Type: gazebo.msgs.Light
/gazebo/default/log/control Type: gazebo.msgs.LogControl
/gazebo/default/log/status Type: gazebo.msgs.LogStatus
/gazebo/default/model/info Type: gazebo.msgs.Model
/gazebo/default/model/modify Type: gazebo.msgs.Model
/gazebo/default/physics Type: gazebo.msgs.Physics
/gazebo/default/physics/contacts Type: gazebo.msgs.Contacts
/gazebo/default/playback_control Type: gazebo.msgs.LogPlaybackControl
/gazebo/default/pose/info Type: gazebo.msgs.PosesStamped
/gazebo/default/pose/local/info Type: gazebo.msgs.PosesStamped
/gazebo/default/pose/modify Type: gazebo.msgs.Pose
/gazebo/default/request Type: gazebo.msgs.Request
/gazebo/default/response Type: gazebo.msgs.Response
/gazebo/default/roads Type: gazebo.msgs.Road
/gazebo/default/scene Type: gazebo.msgs.Scene
/gazebo/default/selection Type: gazebo.msgs.Selection
/gazebo/default/sensor Type: gazebo.msgs.Sensor
/gazebo/default/skeleton_pose/info Type: gazebo.msgs.PoseAnimation
/gazebo/default/sky Type: gazebo.msgs.Sky
/gazebo/default/undo_redo Type: gazebo.msgs.UndoRedo
/gazebo/default/user_camera/joy_pose Type: gazebo.msgs.Pose
/gazebo/default/user_camera/joy_twist Type: gazebo.msgs.Joystick
/gazebo/default/user_camera/pose Type: gazebo.msgs.Pose
/gazebo/default/user_cmd Type: gazebo.msgs.UserCmd
/gazebo/default/user_cmd_stats Type: gazebo.msgs.UserCmdStats
/gazebo/default/visual Type: gazebo.msgs.Visual
/gazebo/default/wind Type: gazebo.msgs.Wind
/gazebo/default/world_control Type: gazebo.msgs.WorldControl
/gazebo/default/world_stats Type: gazebo.msgs.WorldStatistics
/gazebo/performance_metrics Type: gazebo.msgs.PerformanceMetrics
/gazebo/server/control Type: gazebo.msgs.ServerControl
/gazebo/world/modify Type: gazebo.msgs.WorldModify
Is velocity in one of these and I'm just missing something? or is the only way to get a velocity of a part to write a custom gazebo plugin?
Asked by pacman2 on 2021-06-11 14:06:24 UTC
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