Know if a model exists in my Gazebo Simulation

asked 2017-07-12 10:48:46 -0600

blevesque
61 ●6 ●8 ●11

Hi, is there a way to get all model names in my simulation ?
I need to check in a C++ node if a model is instanciated in my gazebo simulation.

Thanks for help

answered 2017-07-12 11:51:48 -0600

chapulina
7504 ●2 ●23 ●54 https://louise.world/

You can write a world plugin. On that example, _parent is a pointer to physics::World. So you can use _parent->GetModel("modelname"), if it returns null there is no model with that name in the world.

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I will try this thanks:)

blevesque ( 2017-07-12 11:55:13 -0600 )edit

But a world plugin is used only when I instanciate my gzserver/world right ? Can I check my models whenever I want even after simulation launch ?

blevesque ( 2017-07-13 04:59:22 -0600 )edit

From a different process, you could subscribe to Gazebo topics `~/model/info` or `~/model/pose` which will be triggered at least once the moment the model is inserted. Or you could create a [request](https://bitbucket.org/osrf/gazebo/src/45f77842932c95d747d2f20df98aed613792b295/gazebo/gui/ModelListWidget.cc?fileviewer=file-view-default#ModelListWidget.cc-278) for `entity_info` at any time.

chapulina ( 2017-07-13 09:17:54 -0600 )edit

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