Hi! I need help to create a topic for the communication between a gazebo plugin and a ros node. The plugin receives the GPS measures and it should publish on a ros topic the data. The problem is that I have not understood how to make the communication between the plugin and the ros topic. Have you got any idea? Thanks!
Originally posted by tonio on ROS Answers with karma: 3 on 2017-07-23
Post score: 0
Your plugin needs a node handle to publish ROS messages. Here is an example of a GPS plugin for Gazebo.
Especially look at the following lines:
152. node_handle_ = new ros::NodeHandle(namespace_);
153. fix_publisher_ = node_handle_->advertise<sensor_msgs::NavSatFix>(fix_topic_, 10);
236. fix_publisher_.publish(fix_);Originally posted by Andre Volk with karma: 775 on 2017-07-24
This answer was ACCEPTED on the original site
Post score: 1