A ROS node that gets ground truth pose of the robot in the Gazebo simulator, and publish the robot GT trajectory.
The node subscribes /gazebo/model_states topic published by Gazebo, and publishes /path_gt.
cd catkin_ws/src
git clone git@github.com:bairuofei/gt_from_gazebo.git
cd ..
catkin_make
source ./devel/setup.bash
rosrun gt_from_gazebo gt_gazebo
Set the parameter model_name as robot in a terminal:
rosparam set model_name robot
Or you can launch the node gt_gazebo in a launch file:
<node pkg="gt_from_gazebo" type="gt_gazebo" name="gt_gazebo" output="screen">
<param name="model_name" type="str" value="robot"/>
</node>