Following the tutorial I spawn a model using option 3.
Is there a way to spawn multiple models that use the same model file using this method?
using GetModel->SetName before spawning a new model doesn't seem to work... the names never update in the gazebo gui and the previous model just disappears.
This feature doesn't exist, but I've created a ticket for it.
this code works for me
for(int i=0;i<num_robots;i++)
{
sdf::SDFPtr modelSDF;
modelSDF.reset(new sdf::SDF);
sdf::initFile("gazebo.sdf", modelSDF);
sdf::readFile("models/wbr.model", modelSDF);
sdf::ElementPtr modelElem = modelSDF->root->GetElement("model");
std::string modelName = modelElem->GetValueString("name");
modelName = modelElem->GetValueString("name") + "_" +
boost::lexical_cast<std::string>(i); ;
modelElem->GetAttribute("name")->Set(modelName);
modelElem->GetElement("pose")->Set(
math::Pose(math::Vector3(i, 0, 0), math::Quaternion(0, 0, 0)));
//TODO: find sensors'name
sdf::ElementPtr sensorElem = modelSDF->root->GetElement("model")->GetElement("link")->GetElement("sensor");
if(sensorElem)
{
sensorElem->GetAttribute("name")->Set(modelElem->GetValueString("name") +"::"+ sensorElem->GetValueString("name") );
}
_parent->InsertModelSDF(*modelSDF);
}
Asked: 2012-11-06 15:15:56 -0500
Seen: 1,897 times
Last updated: Nov 07 '12
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