Add a light to Turtlebot

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Thanks. I am already using it. I was able to build it successfully and test it. But I have two questions (1) How to dynamically turn off/on the green spot light? (2) How such a light could be integrated to Turtlebot since I can't find Turtlebot description in SDF format, therefore, can't attach a light to a link?

@Ash_100 Did you managed to turn ON/OFF the light dynamically? I have seen your [other question](http://answers.gazebosim.org/question/17381/different-classes-for-light/) but did not managed to interact with the rendering part from the model plugin.

To turn lights on/off, you can send a Gazebo message to ~/visual altering its emissive values. An example here: https://bitbucket.org/osrf/gazebo/src/4f8e0728b55fd2827cbab3395d792bef218a5aae/examples/stand_alone/stop_light/stop_light.cc?at=citysim&fileviewer=file-view-default

@chapuline Thanks!< I was sending a message to ~/light/modify to change the colors of diffuse and specular (between Black and White). Which solution would you recommend?

Also, since I have added the AttachLightPlugin (on 9 lights), I have noticed that gzclient (v8.1 from OSRF repos) leaks memory quite quickly so I cannot keep simulation more than 10 minutes open. Did you also notice that behavior?

ha, I'm pretty sure I deleted the earlier comment right after I posted and realized you were taking ab out real lights, not "visual LEDs". Bug in Gazebo Answers... Anyway, ~/light/modify should be the way to go, this is how gzclient does it.

As for performance, you could wait for the next Gazebo 7 release ;) https://bitbucket.org/osrf/gazebo/pull-requests/2807/add-light-as-child-of-link/diff

Interesting. Thanks! When you talk about performance, you refer to my memory leak issue? About "Visual LEDs", I cannot attach them to links, right? An about the mentioned PR, if it lands in Gazebo 7, it should also arrives in Gazebo 8, isn't it?

Yes, memory leak relates to performance. By "visual LEDs" I mean changing the emissive color of a visual like this, so it's not a light and will not affect objects around it: https://twitter.com/chapulinaBR/status/920436448024596481. Sure, the PR will first need to land on gz7 and then be ported to gz8.

Ok thanks, I see the difference now. Indeed, I need the real lights. So I am now waiting for the merge of the PR.