pr2_arm_gazebo: Groud Truth Position Pose and Rates Interface

Collaboration diagram for Groud Truth Position Pose and Rates Interface:

Classes
class	gazebo::GazeboRosGraspHack
	GazeboRosGraspHack controller. More...

Detailed Description

GazeboRosGraspHack controller.

This controller requires to a model as its parent. The plugin broadcasts a body's pose and rates through ROS nav_msgs::Odometry message. In the example below, the plubin broadcasts pose and rate of a body named body_name over ROS topic name body_pose_groud_truth.

Example Usage:

     <model:physical name="some_fancy_model">
       <controller:gazebo_ros_grasp_hack name="grasp_hack_controller" plugin="libgazebo_ros_grasp_hack.so">
         <alwaysOn>true</alwaysOn>
         <updateRate>1000.0</updateRate>
         <bodyName>body_name</bodyName>
         <topicName>body_pose_ground_truth</topicName>
         <frameName>map</frameName>
         <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- option to initialize odometry for fake localization-->
         <rpyOffsets>0 0 0</rpyOffsets>
         <interface:position name="grasp_hack_position_iface"/>
       </controller:gazebo_ros_grasp_hack>
     </model:phyiscal>

Classes

Detailed Description