Allow OdometryPublisher to work with non-fixed link

[Morgantiz]

Allow the OdometryPublisher to publish odometry for a non-fixed link of the robot model. Introduce the possibility to publish the odometry of a point after a non-fixed joint.

Solves StackExchange question:
https://robotics.stackexchange.com/questions/112266/how-to-get-the-global-position-of-a-link-in-gazebo-sim

[Morgantiz]

Solution implemented in: Morgantiz#1

[iche033]

actually to resolve the original stack exchange question regarding getting pose of links, there is a PosePublisher system that can be used, example world here: https://github.com/gazebosim/gz-sim/blob/gz-sim9/examples/worlds/pose_publisher.sdf

[Morgantiz]

Thank you very much for your reply and support. Using pose publisher is it also possible to publish the location of a fixed link that is removed within the gazebo model, but present in the URDF? I'm working on the odometry publisher because it allows you to consider a fixed xyz and rpy offset. Furthermore the odometry publisher computes the velocity with respect to the body frame.

[iche033]

Using pose publisher is it also possible to publish the location of a fixed link that is removed within the gazebo model, but present in the URDF?

Do you mean that a link connected to another link with 'fixed joint' is missing in gazebo? If that's the case, you can set the < preserveFixedJoint> tag in URDF (see this page) which preserves the link. The pose publisher system doesn't publish velocities so may not fit your use case.