README.md

Run basestate tutorial in Gazebo

Run model in Gazebo with YARP integration

• 1st terminal:

  yarp server
  

• 2nd terminal:

  • Update the GZ_SIM_RESOURCE_PATH environment variable to point to the tutorial folder:

    export GZ_SIM_RESOURCE_PATH = $GZ_SIM_RESOURCE_PATH:<path-to-tutorial-folder>
    

  • Then, launch Gazebo:

    cd <path-to-tutorial-folder>/basestate
    gz sim model.sdf
    

• 3rd terminal:

  yarp name list
  yarp read /read ... /basestate
  

Finally start the simulation in Gazebo. The output you will obtain is similar to the following:

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0.0 0.0 0.200000000000000011102 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
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2.66742102105863349715e-19 -2.2382279707625282588e-19 0.0499991526205256775484 4.46604035770848181858e-18 5.33775604729435379127e-18 -1.92613521797670789656e-21 9.86001750322409632563e-19 -8.8071622250169726935e-19 8.53451684918425657056e-06 1.76120401511952139491e-17 1.9743566732536308891e-17 -2.53183071336154027179e-21 1.30212116084367548068e-16 -3.72388682882364640763e-16 -8.62087312274439909743e-05 7.40595074127527750534e-15 2.66396774171890798356e-15 4.71353545744632500157e-19
2.66742102105863349715e-19 -2.2382279707625282588e-19 0.0499991526205256775484 4.46604035770848181858e-18 5.33775604729435379127e-18 -1.92613521797670789656e-21 9.86001750322409632563e-19 -8.8071622250169726935e-19 8.53451684918425657056e-06 1.76120401511952139491e-17 1.9743566732536308891e-17 -2.53183071336154027179e-21 1.30212116084367548068e-16 -3.72388682882364640763e-16 -8.62087312274439909743e-05 7.40595074127527750534e-15 2.66396774171890798356e-15 4.71353545744632500157e-19
2.66742102105863349715e-19 -2.2382279707625282588e-19 0.0499991526205256775484 4.46604035770848181858e-18 5.33775604729435379127e-18 -1.92613521797670789656e-21 9.86001750322409632563e-19 -8.8071622250169726935e-19 8.53451684918425657056e-06 1.76120401511952139491e-17 1.9743566732536308891e-17 -2.53183071336154027179e-21 1.30212116084367548068e-16 -3.72388682882364640763e-16 -8.62087312274439909743e-05 7.40595074127527750534e-15 2.66396774171890798356e-15 4.71353545744632500157e-19
2.66742102105863349715e-19 -2.2382279707625282588e-19 0.0499991526205256775484 4.46604035770848181858e-18 5.33775604729435379127e-18 -1.92613521797670789656e-21 9.86001750322409632563e-19 -8.8071622250169726935e-19 8.53451684918425657056e-06 1.76120401511952139491e-17 1.9743566732536308891e-17 -2.53183071336154027179e-21 1.30212116084367548068e-16 -3.72388682882364640763e-16 -8.62087312274439909743e-05 7.40595074127527750534e-15 2.66396774171890798356e-15 4.71353545744632500157e-19

On each line are listed 18 elements:

• X, Y, Z coordinates of the origin of the base link frame expressed in the world reference frame;
• Roll, Pitch and Yaw angles expressing the orientation of the base link frame with respect to the world reference frame, in radians;
• Linear velocity of the origin of the base link frame expressed in the world reference frame;
• Angular velocity of the origin of the base link frame expressed in the world reference frame;
• Linear acceleration of the origin of the base link frame expressed in the world reference frame;
• Angular acceleration of the origin of the base link frame expressed in the world reference frame;

As you can observe from the basestate plugin output, the base link frame starts at 0.2m height on Z direction (the 3rd value printed on each line) and when the simulation runs the cube falls on the ground; the Z value then remains constant to ~0.05m.