Cannot Read Actors World Positions from the gz Topics

[Riyadh-kh]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Binary, Gazebo Sim 8.3

Description

• Expected behavior: Access the actors world positions from the gazebo topics
• Actual behavior: Actors positions are not available from the available gazebo topics, it can only be visually seen from the GUI under entity world position

Steps to reproduce

1. Install gazebo sim 8.3
2. Launch the actor.sdf file
3. Echo the position topic: gz topic -t /world/actors/pose/info -e

Output

header {
  stamp {
    sec: 54
    nsec: 840000000
  }
}
pose {
  name: "ground_plane"
  id: 4
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "box"
  id: 8
  position {
    x: 5
    y: 3.044565719561775e-20
    z: 0.49999960892166867
  }
  orientation {
    x: -3.7891737180450352e-20
    y: 7.7720351048945483e-20
    z: -1.6228654472617637e-21
    w: 1
  }
}
pose {
  name: "camera"
  id: 12
  position {
    x: 3
    y: -3
    z: 10
  }
  orientation {
    y: 0.70682518110536585
    w: 0.70738826916719977
  }
}
pose {
  name: "link"
  id: 5
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "box_link"
  id: 9
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "link"
  id: 13
  position {
    x: 0.05
    y: 0.05
    z: 0.05
  }
  orientation {
    w: 1
  }
}
pose {
  name: "visual"
  id: 6
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "box_visual"
  id: 10
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "visual"
  id: 14
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "sunVisual"
  id: 20
  position {
  }
  orientation {
    w: 1
  }
}
pose {
  name: "sun"
  id: 19
  position {
    z: 10
  }
  orientation {
    w: 1
  }
}