Which Plugin Should I Add for External Pose Control in Ignition Gazebo Fortress with ROS 2 Humble?

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Hello everyone,

I’m currently using ROS 2 Humble with Ignition Gazebo Fortress. I have a simple model (a box) that I spawned using an SDF file. My goal is to update the model’s pose externally (for example, to make it move in a circular path) by calling a ROS service.

However, I’m unable to find a service (such as ‘/world/empty/model/modify’ or ‘/world/empty/set_pose’) that allows me to modify the model’s pose. It seems that my model isn’t exposing any such service.

I suspect that I need to add a plugin in the SDF file to enable external pose modification. Could someone please recommend which plugin I should use for this purpose and provide guidance or an example of how to configure it in the SDF file?

Any help would be greatly appreciated!

Thank you.

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Please use the robotics stackoverflow for these kind of questions https://robotics.stackexchange.com/. When creating the question there please include the steps or instructions that you are using and how to reproduce the problem. Thanks!

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I’m running into a similar issue than @rajansingh when trying to migrate a project from Gazebo Classic to Gazebo Harmonic. I already opened a question on the robotics StackExchange here: ros2 - ROS 2 call /world/default/set_pose Gazebo service - Robotics Stack Exchange.

In the issue I mention that there is already a PR that might solve this but it’s now open since around 1.5 years and therefore I’m also wondering if there is already a way to do this in the newer Gazebo