# ros_ign_pose_bridge

**Repository Path**: johny_lv/ros_ign_pose_bridge

## Basic Information

- **Project Name**: ros_ign_pose_bridge
- **Description**: Bridge GroundTruth of Pose (~/pose/info) from Ignition to ROS
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: melodic-ubuntu18.04
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2022-05-22
- **Last Updated**: 2025-01-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Bridge GroundTruth of Pose from Ignition to ROS

## 安装

requirements:

* Ignition Fortress or Citadel
* ubuntu 18.04
* ROS melodic

> 注:本教程暂时只针对ubuntu18.04暂未进行其他版本测试


```
cd ws/src 
git clone https://gitee.com/johny_lv/ros_ign_pose_bridge.git
catkin_make install
```

## 使用


1. 在`launch`文件中填写要获取真实位姿的物体的名称:

   ```
   # Setup the workspace
   cd ./ws/src/ros_ign_pose_bridge/launch
   vim test.launch
   ```

   文件内容如下

   ```
   <launch>
   	<node name="pose_bridge" pkg="ros_ign_pose_bridge"  type="pose_bridge" required="true"  output="screen" args="/world/shapes/pose/info vehicle_1 "/>
   </launch>
   ```

   更改为`args="/world/shapes/pose/info vehicle_1 vehicle_2 vehicle_3 vehicle_4"`,`vehicle_*`为自己定义的无人机的名称.

2. 启动launch文件:

   ```
   roslaunch ros_ign_pose_bridge test.launch
   ```

3. 所需位置真值为`/pose/groundtruth/vehicle_1`,"/pose/groundtruth/"+"自定义无人机名称":

   内容
   
   ```
   # rostopic echo  /pose/groundtruth/vehicle_1
   
   header: 
     seq: 4049
     stamp: 
       secs: 1653204754
       nsecs: 915372072
     frame_id: ''
   child_frame_id: ''
   pose: 
     pose: 
       position: 
         x: 0.0
         y: -1.5
         z: 0.5
       orientation: 
         x: 0.0
         y: 0.0
         z: 0.0
         w: 1.0
     covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
   twist: 
     twist: 
       linear: 
         x: 0.0
         y: 0.0
         z: 0.0
       angular: 
         x: 0.0
         y: 0.0
         z: 0.0
     covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
   ```
   类型
   ```
   # rostopic type  /pose/groundtruth/vehicle_1
   nav_msgs/Odometry
   ```
   
   频率
   ```   
   # rostopic hz  /pose/groundtruth/vehicle_1
   average rate: 60
   ```