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Read arm links pose (ariac competition)


Can I read the topic “/gazebo/link_states” or it is against the rules ?
What is this topic msg type ?



Hi @thomio,

It is against the rules to use the /gazebo/link_states topic during the competition (you can use it during development of your package if you find it useful). It is against the rules to use any of the topics or services in the /gazebo/ namespace prefix during the competition. You should use the topics listed in the competiton interface documentation instead.
Thank you for your question – I have updated the documentation to clarify that this is not permitted.

In general, you can find the msg type of a topic by running rostopic info {topic_name}, for example:

$ rostopic info /ariac/joint_states
Type: sensor_msgs/JointState

I hope that this helps.