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/gazebo/get_model_state in ROS2 not present

asked 2022-07-13 08:20:53 -0600

Zeckurbo
64 ●6 ●8 ●13

updated 2022-07-18 06:29:35 -0600

Hello,

I want to extract with a python script the position of a robot (that I know the model name of) from gazebo.

In many forum posts and tutorials for ROS1, the /gazebo/get_model_state service (API docu) is used for that, but as mentioned here it is deprecated.

What I have done so far is following this tutorial and now want to use it to get the position of a turtlebot3 inside its demo world.

If I put ros2 service call /get_entity_state gazebo_msgs/GetEntityState '{name: turtlebot3, reference_frame: world}' the output is just:

waiting for service to become available...

Does that mean, /get_entity_state is not running automatically when gazebo is started?

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answered 2022-07-18 06:37:44 -0600

Zeckurbo
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updated 2022-07-18 06:39:21 -0600

As I found out here, if you want to use get_model_state, you can simply add

<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
      <ros>
        <namespace>/gazebo</namespace>
      </ros>

      <update_rate>1.0</update_rate>
    </plugin>

to the world file of your ros2 package. To test it, you can run

ros2 service call /gazebo/get_entity_state gazebo_msgs/GetEntityState '{name: my_robot_name, reference_frame: world}'

when gazebo is running in the background, and the service appears on ros2 service list

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Asked: 2022-07-13 08:20:53 -0600

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Last updated: Jul 18 '22

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