Re: [ros-users] Programmatically get ModelState from Gazebo

Hi Ian,
see attached simple python script for example, with pr2 running (roslaunch
pr2_gazebo pr2_empty_world.launch),
$ ./gms.py pr2 world
returnd x position -0.00678816834842

Also, can you please re-post your question on answers.ros.org? I think
that's where things should be these days.

Thanks,
John


On Mon, Apr 25, 2011 at 4:27 PM, Ian Jones <ianaldenjones@gmail.com> wrote:

> Thanks for the reply, it worked as far as compilation went but I am still
> not positive at how to get at the data further in ModelState. For example I
> want to get Pose data more specifically position (x,y,z). Position is
> nested inside of pose which is nested inside ModelState, So if i wanted to
> just get the robots current x position, what sort of call would i need?
> Thank you for your time.
> Ian
>
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#!/usr/bin/env python
import roslib; roslib.load_manifest('gazebo')

import sys

import rospy
from gazebo.srv import *

def gms_client(model_name,relative_entity_name):
    rospy.wait_for_service('/gazebo/get_model_state')
    try:
        gms = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
        resp1 = gms(model_name,relative_entity_name)
        return resp1
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e

def usage():
    return "%s [model_name] [relative_entity_name]"%sys.argv[0]

if __name__ == "__main__":
    if len(sys.argv) == 3:
        model_name = sys.argv[1]
        relative_entity_name = sys.argv[2]
    else:
        print usage()
        sys.exit(1)
    res = gms_client(model_name,relative_entity_name)
    print "returnd x position ",res.pose.position.x