set light properties through ros topic or service interface?

asked 2016-03-14 18:53:03 -0500

Lucas Walter
115 ●11 ●14 ●21 https://plus.google.co...

updated 2016-03-15 11:13:13 -0500

Is it possible to set light properties through the ros topic or service interface on /gazebo? For example any of the properties set in the sdf file and available through menus in the gui I'd like to be able to adjust:

<light type="spot" name="base_light">
    <!--  Frames don't work in 5.0.1 XML Element[frame], child of element[light] not defined in SDF. Ignoring[frame]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. -->
    <!--frame name="base_link"-->
    <pose>0 0 0.1 1.57 0 0</pose>
    <diffuse>.9 .9 .9 1</diffuse>
    <specular>.1 .1 .1 1</specular>
    <attenuation>
        <range>20</range>
    </attenuation>
    <spot>
      <inner_angle>0.4</inner_angle>
      <outer_angle>1.0</outer_angle>
      <falloff>1.0</falloff>
    </spot>
    <direction>0 0 -1</direction>
    <cast_shadows>true</cast_shadows>
</light>

If not that, what about gz command line or gazebojs?

I'm using Ubuntu 14.04 with ROS Jade and Gazebo 5.0.1.

answered 2016-03-15 10:40:41 -0500

nkoenig
7596 ●8 ●43 ●70 http://gazebosim.org/

Gazebo does not use ros topics or services directly. Try using the command line tools provided in Gazebo.

Check if a topic exists that might offer a solution. In this case, just list the topics with gz topic -l
The /gazebo/default/light/modify looks promising
Let's see what message is advertised on the topic with gz topic -i /gazebo/default/light/modify
Looks like we can send a Light message.
Now try writing a program to send a light message.

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I created two lights in my sdf, one directional and one spotlight, and they both have a `_light` in their names, and they appear in the gui. `gz topic --list` shows /gazebo/default/light, but no modify. There is a `/gazebo/world/modify`, and a default pose and model modify.

Lucas Walter ( 2016-03-15 11:12:21 -0500 )edit

The modify topic may only be in a newer version of gazebo. Sounds like you'll have to write a plugin to achieve the affect you desire.

nkoenig ( 2016-03-15 11:23:03 -0500 )edit

I believe that in earlier gazebo versions, `/gazebo/default/light` works just like the new modify topic. But if you try to modify a light by giving the name of a light which doesn't exist, it will create a new light.

chapulina ( 2016-03-15 12:24:40 -0500 )edit

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