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Gazebo PosePublisher

Simulation / Gazebo / plugins

Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of gz::msgs::Pose messages, or a single gz::msgs::Pose_V message if "use_pose_vector_msg" is true.

Add plugin to my robot model

add to my urdf
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<gazebo>
    <plugin
        filename="gz-sim-pose-publisher-system"
        name="gz::sim::systems::PosePublisher">
        <publish_model_pose>false</publish_model_pose>
        <publish_link_pose>true</publish_link_pose>
        <use_pose_vector_msg>false</use_pose_vector_msg>
        <update_frequency>10</update_frequency>
    </plugin>
</gazebo>

Gz topics

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gz topic --info -t  /model/my_bot/pose
#
Publishers [Address, Message Type]:
  tcp://172.19.0.1:37695, gz.msgs.Pose

Config

Parameter Description
publish_link_pose Set to true to publish link pose.
publish_visual_pose Set to true to publish visual pose.
publish_collision_pose Set to true to publish collision pose.
publish_sensor_pose Set to true to publish sensor pose.
publish_model_pose Set to true to publish model pose.
publish_nested_model_pose Set to true to publish nested model pose. The pose of the model that contains this system is also published unless publish_model_pose is set to false.
use_pose_vector_msg Set to true to publish a gz::msgs::Pose_V message instead of multiple gz::msgs::Pose messages.
update_frequency Frequency of pose publications in Hz. A negative frequency publishes as fast as possible (i.e., at the rate of the simulation step).
static_publisher Set to true to publish static poses on a "<scoped_entity_name>/pose_static" topic. This will cause only dynamic poses to be published on the "<scoped_entity_name>/pose" topic.
static_update_frequency Frequency of static pose publications in Hz. A negative frequency publishes as fast as possible (i.e., at the rate of the simulation step).