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2016-12-18 16:48:43 -0600 received badge  Popular Question (source)
2016-12-18 14:38:19 -0600 received badge  Editor (source)
2016-12-18 04:10:20 -0600 asked a question Subscribing to new topic

I'm trying to subscribe box model to new topic to publish messages to. I have this Load functon

public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
  // Store the pointer to the model
  this->model = _parent;
  node = gazebo::transport::NodePtr(new gazebo::transport::Node());
  sub = node->Subscribe("~/box", OnMsg);

And main is:

 int main(int _argc, char **_argv)
    // Load gazebo
    // Create our node for communication
    gazebo::transport::NodePtr node(new gazebo::transport::Node());
    // Publish to a Gazebo topic
    gazebo::transport::PublisherPtr pub =
    // Wait for a subscriber to connect
    std::cout << "Ok\n";
    // Publisher loop...replace with your own code.
    while (true)
            // Throttle Publication
            // Generate a pose
            ignition::math::Pose3d pose(1, 2, 3, 4, 5, 6);
            // Convert to a pose message
             gazebo::msgs::Pose msg;
             gazebo::msgs::Set(&msg, pose);
    // Make sure to shut everything down.

I'm not sure I'm doing it right, because new topic doesn't appear in topic list after start of gazebo. Is it possible to do something like that without ROS?

2016-12-16 01:46:00 -0600 received badge  Popular Question (source)
2016-12-14 13:21:05 -0600 asked a question How to get data from camera?

I want to make a simulation, where I get data from camera, send them to my application, then get an output (like velocities) and apply it to a model. As I understood from tutorials, it is a way to get data from Gazebo API through TCP/IP sockets. But is it posiible to get data from camera sensor by plugin, do some calculation and apply output to the model camera attached to?

I found an example of camera plugin, but I don't quite undestand how to use the data outside the camera. Or is it really necessary and I can do any calculation just inside OnNewFrame function and send data to the "parent"?