MAVROS and GAZEBO - how to get actual position of the model

1

Hi developers,

I am running simulation using Gazebo, and I use MAVROS to interface between ROS and gazebo to do some offboard mission. I would like to ask if there is a way/plugin/message that I can use to acquire the actual position of the simulated IRIS? I can get EKF estimated position from the /mavros/local_position/pose topic, but would want to have the actual position of the drone in the simulated environment, to do some comparison.

Thanks!

Best Regards

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have the same problem.
Help would be highly appreciated!

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@MQC You can get the states directly from gazebo using the robot_state_publisher

You can find more information here

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