Hi,

I hust added a child link with a sphere on top of the hector quadcopter gazebo model and included the libgazeborosp3d plugin to publish the sphere pose. However the pose is not correct. When the drone is on the floor, the sphere is clearly above the floor, but the published z position coordinate is -0.06m!

In what reference frame is the plugin publishing the pose by default? The sphere has a 0.03m radius, the drone, when on the floor, has its pose at z=0.04m, and the sphere (center) was placed about 0.1m above the drone frame origin (along the z drone frame axis). Tested with ROS Indigo, with gazebo 2.2.3 in a 64bit Kubuntu 14.04.02 (all software up to date).