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44 lines
1.5 KiB
44 lines
1.5 KiB
#! /usr/bin/env python
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from gazebo_msgs.srv import GetModelState, GetModelStateRequest, GetWorldProperties
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from nav_msgs.msg import Odometry
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from std_msgs.msg import Header
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from std_srvs.srv import Empty
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import rospy
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import time
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rospy.init_node('ground_truth_odometry_publisher')
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odom_pub=rospy.Publisher('ground_truth', Odometry, queue_size=10)
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rospy.loginfo('Waiting to connect to /gazebo/get_model_state.')
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rospy.wait_for_service('/gazebo/get_model_state')
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get_model_srv = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
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get_world_properties = rospy.ServiceProxy('/gazebo/get_world_properties', GetWorldProperties)
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unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
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odom=Odometry()
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header = Header()
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header.frame_id='/ground_truth'
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model = GetModelStateRequest()
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model.model_name='robot'
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models = []
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r = rospy.Rate(20)
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pause_timeout = time.time() + 4.0
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while time.time() < pause_timeout:
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rospy.logwarn("Waiting %.2f seconds to unpause physics", pause_timeout - time.time())
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time.sleep(1.0)
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unpause_physics()
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while not rospy.is_shutdown():
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if model.model_name not in models:
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models = get_world_properties().model_names
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rospy.logwarn("Waiting for %s to spawn to publish ground truth odometry", model.model_name)
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else:
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result = get_model_srv(model)
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odom.pose.pose = result.pose
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odom.twist.twist = result.twist
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header.stamp = rospy.Time.now()
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odom.header = header
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odom_pub.publish(odom)
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r.sleep()
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