Ground Truth Position of a Model

General
,
1

Hello,

I am trying to spawn and control multiple robots independently in Gazebo Harmonic. Everything has been successfully launched, but I would like to keep track of their individual ground-truth positions. I have odometry topics, but since the motion often requires stationary rotation, the odometry value is not useful in my case. Also, I want to keep the project as simple as possible, so I would like to avoid sensor fusion and just use their ground truth positions. In Gazebo Classic, I think we used p3d plugins, but what should we do for Gazebo Harmonic?

Thank you for your help!

2

It should be available on one of the Gazebo topics. Just gz topic -l to see the list of them and try to find it. It should be something like “model poses”, but I don’t remember it exactly.