🚀 Quickstart

The SphericalCoords plugin for Gazebo integrates spherical coordinate manipulation capabilities into the Gazebo simulation environment. It allows users to get, set, and transform spherical coordinates within the simulation. The plugin is designed to interface with ROS 2, providing services to interact with the spherical coordinates system.

First, run the dave_bimanual_example world:

ros2 launch dave_demos dave_world.launch.py world_name:=dave_bimanual_example verbose:=true

Run

ros2 service list

to check if the services are up. It should return

/gz/get_origin_spherical_coordinates
/gz/set_origin_spherical_coordinates
/gz/transform_from_spherical_coordinates
/gz/transform_to_spherical_coordinates

among other services.

📟 How to: services

1. GetOriginSphericalCoord 🔺

Service Name: /gz/get_origin_spherical_coordinates

This service retrieves the current spherical coordinate origin of the Gazebo world.

Request: dave_interfaces::srv::GetOriginSphericalCoord::Request

• No request fields.

Response: dave_interfaces::srv::GetOriginSphericalCoord::Response

• latitude_deg (float): Latitude in degrees.
• longitude_deg (float): Longitude in degrees.
• altitude (float): Altitude in meters.