I think you can do this by using the PosePublisher system. Here's an example from SubT:

   <plugin filename="libignition-gazebo-pose-publisher-system.so"
        name="ignition::gazebo::systems::PosePublisher">
        <publish_link_pose>true</publish_link_pose>
        <publish_sensor_pose>true</publish_sensor_pose>
        <publish_collision_pose>false</publish_collision_pose>
        <publish_visual_pose>false</publish_visual_pose>
        <publish_nested_model_pose>true</publish_nested_model_pose> <!-- this bit is important -->
        <use_pose_vector_msg>true</use_pose_vector_msg>
        <static_publisher>true</static_publisher>
        <static_update_frequency>1</static_update_frequency>
      </plugin>

You'll also need a ros_ign bridge and a TF broadcaster

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For the future reference of anyone else searching for the same thing: Based on Azeey's response, I now have a fixed frame that Ignition RViz likes but I still can't see my lidar. The code that Azeey posted is giving the following two topics that are seen when I enter ign topic -l

/model/jack_robot/pose
/model/jack_robot/pose_static

I named my model 'jack_robot' in the .sdf file.

I stuck the code that Azeey posted within this tag:

<model name='jack_robot' canonical_link='chassis'>

That didn't solve the issue of Ignition RViz not finding a fixed frame. It was the bit at the end of his message that did the trick. I created a static transform publisher based off of the Python turtlebot tf2 example code. I have the following in that code:

static_transformStamped.header.frame_id = 'world'
static_transformStamped.child_frame_id = 'jackFrameId'

Both of those are showing up in Ignition Rviz and it is happy with respect to the fixed frame issue that I was seeing before.

To get those fixed frames over to Ignition I need to have the following in my launch file:

    Node(
        package='ros_ign_bridge',
        executable='parameter_bridge',
        arguments=['/tf@tf2_msgs/msg/TFMessage@ignition::msgs::Pose_V']
    ),

If I am understanding what Azeey is saying with his links, I would take the poses generated by Ignition Gazebo and would use a bridge to get that over to ROS2 where my node would republish it as a /tf and use another bridge to get it back to Ignition whre Rviz will now be happy AND will track the position of the robot. I plan on trying that in a bit but first I want to see my lidar in Rviz. Provided that I get that to happen and succeed in what I just described, then I'll update this post with full details of how I got it to work.

Comments