Add pose publisher ground truth example

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · Feb 21, 2024 · 8a56f02 · 8a56f02
1 parent 633ce72
commit 8a56f02
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diff --git a/examples/worlds/rolling_shapes.sdf b/examples/worlds/rolling_shapes.sdf
@@ -174,6 +174,12 @@
           </material>
         </visual>
       </link>
+      <plugin
+        filename="gz-sim-pose-publisher-system"
+        name="gz::sim::systems::PosePublisher">
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <publish_nested_model_pose>true</publish_nested_model_pose>
+      </plugin>
     </model>
 
     <model name="capsule">

diff --git a/examples/worlds/tf_bridge.yaml b/examples/worlds/tf_bridge.yaml
@@ -0,0 +1,10 @@
+# Run with
+#
+# ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=tf_bridge.yaml
+#
+# Set just topic name, applies to both
+- ros_topic_name: "/tf"
+  gz_topic_name: "model/sphere/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS