Hello all,
I am using gazebo Harmonic in 24.04 with ROS2 Jazzy. I want to run a UAV simulation - done - and I want to control the UAV directly with raw motor commands.
Is there a plug-in that can accept this type of message?
Thank you
I am using this:
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
and I managed to configure the ros_gz_bridge for bidirectional message exchange between ros2 and gz topics. I write to this topic using ros2 topic pub but the UAV does not turn the propellers or does anything.
Any ideas where to look next?
Hello,
This type of question is best asked on https://robotics.stackexchange.com/. When creating the question, please make sure to include the gazebo tag and describe your problem in detail.
Posting this for completion:
The answer is you have to include the correct mapping for the gz topic to ROS2
/yourtopic@actuator_msgs/msg/Actuators@gz.msgs.Actuators
Then a ROS2 publisher in this topic works