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Gazebo Odometry Plugin

ROS / ros eco / urdf xacro gz plugin / gazebo harmonic / jazzy bridge

Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odometry data in the form of gz::msgs::Odometry messages.

Gazebo

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messages

gz topic gz message ros message
/model/<name>/Odometry gz.msgs.Odometry nav_msgs/msg/Odometry
/model/<name>/odometry_with_covariance gz.msgs.OdometryWithCovariance nav_msgs/msg/Odometry
/model/<name>/pose gz.msgs.Pose_V tf2_msgs/msg/TFMessage

Bridge

bridge
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- ros_topic_name: "/model/my_bot/Odometry"
  gz_topic_name: "/model/my_bot/odometry"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.Odometry"
  direction: GZ_TO_ROS
- ros_topic_name: "/model/my_bot/odometry_with_covariance"
  gz_topic_name: "/model/my_bot/odometry_with_covariance"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.Odometry"
  direction: GZ_TO_ROS
- ros_topic_name: "/model/my_bot/pose"
  gz_topic_name: "/model/my_bot/pose"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: GZ_TO_ROS