Re: Laser pose from gazebo to player

What level of abstraction are you using for accessing the pose? The gazebo
physical links should have a GetRelativePose()
http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Entity.html#a20e0dee2e15afac1b8c9ffd102e80528

Otherwise you can do this yourself by fetching the parent model and its
world pose...

- Toby


On Tue, 28 Mar 2017 at 04:26 Fred Labrosse <[email protected]> wrote:

> All,
>
> I'm working on adding more functionality to gazebo so that the interface
> to player is more feature rich!  I'm doing that to get a 3D simulator
> working with player, while I still use player.
>
> I'm working based on gazebo 8.
>
> So far I have added the GPS, and that seems to work fine.
>
> I have now modified the laser interface and most of the data is now
> passed to player and a lasertoranger can make sense of it.  So (almost)
> all good.
>
> What is missing is the pose of the laser.  I might be wrong but it seems
> that gazebo only has a world pose for the laser, not a pose relative to
> whatever it is mounted to.
>
> Anybody has any idea?  Have I missed something obvious?
>
> Cheers,
>
> Fred
>
>
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