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Ground truth of ignition gazebo model through ROS

asked 2021-07-26 16:41:25 -0500

bmchale gravatar image

Hi! I'm trying to get the ground truth pose of my vehicle from ignition to ROS. I'm using ROS2 Foxy and Ignition Citadel. I have found the values I want in the ignition topic /world/empty/pose/info and created a IGN to ROS bridge that publishes TFMessages. The problem is the frame id and child frame id are not filled out so I cannot tell which tf is my model. Is there anyway for me to get the ground truth position of my model in ROS with the frame ids filled out?

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Did you solved this? if no, what does ign topic -l says?

kakcalu13 gravatar imagekakcalu13 ( 2022-02-21 11:36:31 -0500 )edit

I am also interested in this, did you find an answer?

rezenders gravatar imagerezenders ( 2022-11-08 06:12:45 -0500 )edit

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answered 2022-11-11 15:33:43 -0500

azeey gravatar image

I believe the PosePublisher system can be used to this effect. You can see an example of it in the SubT repo:

Instantiate the PosePublisherplugin in the SDFormat file. This is an erb file, but the idea is the same:

Map the ignition topic to ROS:

Node to broadcast TF transforms based on the pose data:

Launch the tf_broadcast node:

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Asked: 2021-07-26 16:41:25 -0500

Seen: 432 times

Last updated: Nov 11 '22