Subscribe to topic from Gazebo

[PhilPhal]

Hi MRS team,

We need to subscribe to a topic from Gazebo to control the position of our payload. We suppose that you subscribed to the uav_state topic in order to have the position of the uavs. Could you explain where and how you implemented this in your code?

Thank you in advance.

Best regards,
Philippe

[DanHert]

Hello, you mean how is the position of the UAV in the uav_state topic calculated?
It is deduced from the simulated Accelerometers/Gyros/Barometers on Pixhawk, and fused with a source of localization, which can be GPS, Lidar SLAM, optic flow, VIO etc.

Dan H.

[WingRS]

Hi @PhilPhal ,
Since Dan has given a full answer to your question, I'll close this issue today, or maybe you still have some question regarding the uav_state ?

[WingRS]

Sorry, closed it by mistake :) @PhilPhal waiting for you :)

[WingRS]

As no answer appeared, I am closing this issue, thanks to all :)