Which gazebo topic contains velocity?

asked 2021-06-11 14:06:24 -0500

pacman2 gravatar image

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?

edit retag flag offensive close merge delete