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publish to gazebo topic from c++ node in ROS

Hello everyone, i'm trying command my robot in gazebo by using a C++ node in ROS, but i didn't find how to get the connexion between my urdf robot in gazebo and my C++ node.

Please help.

publish to gazebo topic from c++ node in ROS

Hello everyone, i'm trying command my robot in gazebo by using a C++ node in ROS, but i didn't find how to get the connexion between my urdf robot in gazebo and my C++ node.

Please help.

publish to gazebo topic from c++ node in ROS

Hello everyone, i'm trying command my robot in gazebo by using a C++ node in ROS, but i didn't find how to get the connexion between my urdf robot in gazebo and my C++ node.

i can make the joint of my robot move by using rqt_gui, by i don't know how to publish some random positions using C++ node in ROS

Please help.