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How to remove a model which has been inserted in a Ros-enabled plugin??

asked 2013-05-04 01:45:56 -0500

Zahra gravatar image

Hello,

I have a difficulty to remove a model during the simulation time. I have inserted this light point using InsertModelSDF() method in a callback function that is run every time data is published to ros topic.

To be clear more , the below code is the callback function:

void ROSCallbackVel(const geometrymsgs::Twist::ConstPtr& msg)

{

this->simtime = common::Time(0.90);

if ( this->model2_ ->GetWorld()->GetSimTime() > this->simtime )

{

sdf::SDF sphereSDF;

sphereSDF.SetFromString(
   "<sdf version ='1.4'>\
     <light type='Point' name='bulb100'>\
       <pose>-2.0 -0.994333 0.8  0 0 0</pose>\
    <diffuse>0.8 0.8 0.8 1</diffuse>\
     <specular>.4 .4 .4 0</specular>\
     <attenuation>\
            <range>2</range>\
            <linear>0.0</linear>\
            <constant>0.1</constant>\
            <quadratic>0.5</quadratic>\
      </attenuation>\
        <direction>0.0 0.7 0.0</direction>\
        <cast_shadows>false</cast_shadows>\
       </light>\
    </sdf>");

this->model2_ ->GetWorld()->InsertModelSDF(sphereSDF); }

ROS_INFO("subscriber two velocities: [%f %f %f %f %f %f ]", msg->linear.x,msg->linear.y,msg->linear.z, msg->angular.x,msg->angular.y, msg->angular.z);

        Vlinx=msg->linear.x; Vliny=msg->linear.y; Vlinz=msg->linear.z;
        Vangx=msg->angular.x; Vangy=msg->angular.y; Vangz=msg->angular.z;
       this->model_->SetLinearVel(math::Vector3( Vlinx, Vliny, Vlinz));
       this->model_->SetAngularVel(math::Vector3(Vangx, Vangy, Vangz));

}

my question is:

Is there a way to remove this light point using gazebo functions or maybe other ways to do that? Any ideas and suggestions are appreciated!

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2 Answers

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answered 2013-05-07 22:50:50 -0500

iche033 gravatar image

You can send a request message to delete the light

gzfactory's delete function shows how to send the message

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answered 2013-05-08 12:08:10 -0500

Zahra gravatar image

Thanks for answering.

I have tried to send a msg request to delete the model as you recommended it, but it couldn't recognize the light name and it gave me this when I run it: Msg Waiting for master Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.1.3 Error: No model name specified.

I also tried this with box model but it didnt work , I know that problem goes with recognizing the model name but I dont know how to do it even thouhgh I tried to get the model name in this way to delete the light

std::string modelName= _sdf->GetElement("light")->GetValueString();

but gazebo crashed and gave this error :gazebo: /usr/include/boost/smartptr/sharedptr.hpp:418: T* boost::shared_ptr<t>::operator->() const [with T = sdf::Element]: Assertion `px != 0' failed.

The code below shows how it is done:

if ( this->model2_ ->GetWorld()->GetSimTime() > this->simtime )

{

// std::string modelName= _sdf->GetElement("light")->GetValueString();

if (!transport::init())

return;

if (vm.count("bulb100"))

modelName = vm["bulb100"].as<std::string>();

else

{

std::cerr << "Error: No model name specified.\n";

return;

}

transport::run();

transport::NodePtr node(new transport::Node());

node->Init();

msgs::Request *msg = msgs::CreateRequest("entity_delete", modelName);

transport::PublisherPtr pub = node->Advertise<msgs::request>("~/request");

// Model file to load

pub->WaitForConnection();

pub->Publish(*msg);

delete msg;

transport::fini();

}

thanks in advance!

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Comments

looks like you're passing an empty string. Is the name of the light bulb100? If so then just set modelName to "bulb100"

iche033 gravatar imageiche033 ( 2013-05-10 00:12:31 -0500 )edit

thanks it works! once I set the modelName to the name of light.

Zahra gravatar imageZahra ( 2013-05-10 01:10:21 -0500 )edit
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Asked: 2013-05-04 01:45:56 -0500

Seen: 319 times

Last updated: May 08 '13