How to change sdf parameter static from GUI plugin?

asked 2019-10-01 09:55:13 -0500

Boris94
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updated 2019-10-01 09:56:40 -0500

I created GUI plugin with button that spawns objects. For objects i have sdf files with default parameters. Only parameter that i change in plugin is pose, where i use mutable_pose like this:

msgs::Set(msg_.mutable_pose(), ignition::math::Pose3d(0, 0, 0, 0, 0, 0);

This is working correctly. Is there any way to do something similar for static parameter? My sdf objects have static set to false, but i'd like to change it to true by clicking button. Thanks for any help.

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answered 2019-10-14 08:24:46 -0500

chapulina
7474 ●2 ●23 ●54 https://louise.world/

I assume you're using a gazebo::msgs::Factory message to spawn your models. As you can see in the message description, there's a field to override pose, which you're using, but no field to override static. So one thing you could do is edit the model's SDF before spawning.

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answered 2019-10-02 04:41:18 -0500

kumpakri

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See the Gazebo 9 API for the available functions.

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i tried, but i cant even find mutable_pose(), which i used in example above

Boris94 ( 2019-10-02 10:34:17 -0500 )edit

You are supposed to call the void SetStatic (const bool & _static) function on a model object.

kumpakri ( 2019-10-03 03:36:10 -0500 )edit

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The Entity API shouldn't apply in this case, since they're using a GUI plugin. Also note that the SetStatic function doesn't work. To understand why mutable_pose is not in the Gazebo API, see this answer

chapulina ( 2019-10-14 08:28:09 -0500 )edit

i called SetStatic on model, when i click on model it appears that static is true, but model is still colliding and moving

Boris94 ( 2019-11-04 04:07:42 -0500 )edit

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How to change sdf parameter static from GUI plugin?

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