Attach reference frames to models

Question

I am currently setting up a simulation in Gazebo 2.0. In this scene, there will be a number of objects that the robot will need to interact with.

Is there a way to define coordinate frames relative to the models in the scene, and make them available through TF? If so, how would I go about implementing them?

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Originally posted by Peaches491 on Gazebo Answers with karma: 3 on 2014-01-26

Post score: 0

Answer 1

You can use a robot_state_publisher to send the robots state to tf... robot_state_publisher

for that you will need a gazebo plugin that publishes the joint states

This can be easily done by a ros_controll plugin as described here:

ROS_Control_with_Gazebo

(the important thing is the joint_state_controller...)

I hope this help

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Originally posted by evilBiber with karma: 881 on 2014-01-27

This answer was ACCEPTED on the original site

Post score: 0