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What is recommended way to get the model state

When gazebo is running with ros, asik, there are two ways to get state of specific models.

  • Calling /gazebo/get_model_state service
  • Subscribing to /gazebo/model_states topic

I checked both and I found that

  • using service call is better than subscribing because user can select a model.
  • Conversely, /gazebo/model_states contains information of whole models which are spawned in the gazebo world.

So I think subscribing to /gazebo/model_states topic has huge overhead, if we're interested in only few models.

My conclusion is that good way to get model state is calling /gazebo/get_model_state service.

Am I right? I would appreciate if you know better way for it.

Thank you.

What is recommended way to get the model statestate in ROS?

When gazebo is running with ros, asik, there are two ways to get state of specific models.

  • Calling /gazebo/get_model_state service
  • Subscribing to /gazebo/model_states topic

I checked both and I found that

  • using service call is better than subscribing because user can select a model.
  • Conversely, /gazebo/model_states contains information of whole models which are spawned in the gazebo world.

So I think subscribing to /gazebo/model_states topic has huge overhead, if we're interested in only few models.

My conclusion is that good way to get model state is calling /gazebo/get_model_state service.

Am I right? I would appreciate if you know better way for it.

Thank you.