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

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.


Best Regards

have the same problem.
Help would be highly appreciated!

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

You can find more information here

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