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Add header to ModelStates and LinkStates #1415

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Add header to ModelStates and LinkStates #1415

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1 change: 1 addition & 0 deletions gazebo_msgs/msg/LinkStates.msg
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
# broadcast all link states in world frame
Header header # stamp
string[] name # link names
geometry_msgs/Pose[] pose # desired pose in world frame
geometry_msgs/Twist[] twist # desired twist in world frame
1 change: 1 addition & 0 deletions gazebo_msgs/msg/ModelStates.msg
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
# broadcast all model states in world frame
Header header # stamp
string[] name # model names
geometry_msgs/Pose[] pose # desired pose in world frame
geometry_msgs/Twist[] twist # desired twist in world frame
5 changes: 5 additions & 0 deletions gazebo_ros/src/gazebo_ros_api_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2191,6 +2191,8 @@ void GazeboRosApiPlugin::publishSimTime()
void GazeboRosApiPlugin::publishLinkStates()
{
gazebo_msgs::LinkStates link_states;
link_states.header.stamp = ros::Time::now();
link_states.header.frame_id = "map";

// fill link_states
#if GAZEBO_MAJOR_VERSION >= 8
Expand Down Expand Up @@ -2248,6 +2250,9 @@ void GazeboRosApiPlugin::publishLinkStates()
void GazeboRosApiPlugin::publishModelStates()
{
gazebo_msgs::ModelStates model_states;
model_states.header.stamp = ros::Time::now();
model_states.header.frame_id = "map";


// fill model_states
#if GAZEBO_MAJOR_VERSION >= 8
Expand Down