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How to delete a model entirely, including contact filter

asked 2014-06-07 13:07:02 -0500

EdwardC gravatar image

updated 2014-06-07 13:09:36 -0500

Hi,

In my application I need to dynamically insert, delete and reinsert models. So when I delete a module and reinsert the same module at the same position with the same name, I will get an error which is

Error [ContactManager.cc:267] Filter with the same name already exists! Aborting

Meanwhile, I found that the object of the model is still there even after I 'delete' it use the function provided, which I believe is "Fini()".

So I ran a little test, which I added several lines in front of and after my delete function as follows

cout<<"World: This is a count of the object left: "<<currentWorld->GetModel(module_name).use_count()<<endl;
currentWorld->GetModel(module_name)->Fini();
cout<<"World: This is a count of the object left: "<<currentWorld->GetModel(module_name).use_count()<<endl;

Before I finalize the model, the count of the model instances are 23, and after that operation, the count drop to 7 instead of 1. I checked my entire code again and make sure I reset all the model_ptr instance I used. Therefore, it seems that we can never delete a model entirely.

Is this a bug or I massed something up in my code? Is there a solution without changing the name of the new inserted model? This functionality is crucial to our applications, so please help me!

By the way, the gazebo I used is 1.9.5. Have this been fixed in the new version?

Oh, also

currentWorld->GetPhysicsEngine()->GetContactManager()->GetContacts().size()

always gives me zero, so I don't know how to manually delete contact filter either.

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answered 2014-06-09 16:01:19 -0500

scpeters gravatar image
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By the way, could you show me how to manually disable the contact filters of the models which have already been deleted?

EdwardC gravatar imageEdwardC ( 2014-06-11 12:32:43 -0500 )edit
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Asked: 2014-06-07 13:07:02 -0500

Seen: 430 times

Last updated: Jun 09 '14