https://github.com/advrhumanoids/gazebo_odometry
Science Score: 13.0%
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○CITATION.cff file
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✓codemeta.json file
Found codemeta.json file -
○.zenodo.json file
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○DOI references
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○Academic publication links
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○Scientific vocabulary similarity
Low similarity (2.7%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: ADVRHumanoids
- Language: C++
- Default Branch: master
- Size: 13.7 KB
Statistics
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
gazebo_odometry
This code publishes the odometry of the robot into a topic /gazeboodom and into a tf specifying the link, using /gazebo/getmodel_state service.
It's possible to setup the model name using a service or /gazebo/model_states topic which gives back the name of the robot.
Useful link:
https://answers.ros.org/question/222033/how-do-i-publish-gazebo-position-of-a-robot-model-on-odometry-topic/
How to run
1) Run gazebo and the robot. 2) set the name if the /gazebo/modelstates is not present using: i.e rosservice call /gazeboodom/setmodelname "modelname: 'cogimon'" 3) set the name of the link of the odometry tf: i.e rosservice call /gazeboodom/pubodomlink "linkname: 'world'" 4) set the name of the link of the static odometry tf: i.e rosservice call /gazeboodom/pubodomstaticlink "linkname: 'ci/world'" 5) Check the result on Rviz or using the topic: rostopic echo /gazebo_odom
Owner
- Name: ADVR Humanoids
- Login: ADVRHumanoids
- Kind: organization
- Email: luca.muratore@iit.it
- Location: Istituto Italiano di Tecnologia
- Website: https://www.iit.it/lines/humanoids-human-centered-mechatronics
- Repositories: 206
- Profile: https://github.com/ADVRHumanoids
Humanoids & Human Centered Mechatronics, HHCM, IIT
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