I'm trying to understand how I can possibly get the global position of a model in a Gazebo simulation through ROS2.
I've seen that Gazebo publishes data to the
/world/<world_name>/pose/info topic via messages of type
gz.msgs.Pose_V. Following this, I created a bridge to ROS2 via ros_gz_bridge:
ros2 run ros_gz_bridge parameter_bridge /world/world_demo/dynamic_pose/info@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V
(I got the corresponding ROS2 message from the ros_gz_bridge README Unfortunately, the "translation" is incomplete and in the messages received in ROS2 there's no indication of the entity each portion refers to.
Am I missing something here? Is there a way to accomplish this at the moment?