Hi everyone again! I'm programing an reinforcemente learning aplication for a robot.

I've created the whole learning code, but I need one more thing to finish: restarting the world. I'm using the gazebo simulator, and when teh robot have achive its objetive, I have to change the world, I mean, reset the robot pose and change the obstacles poses randonly).

I haven't found some solutions for changing the pose of the obstacles randonly (I thought modifying the line with determines the pose of the obstacle in the xml file from c++ and strings, scan and thats stuff, I don't know if it is a good idea, could you tell me?). But for the pose reset of the robot I have no idea.

I've looking for how to make a roslaunch of the .launch which contain the urdf model, the necesary nodes, etc, but from c++. But it could be slow doesn't it? Because it would have to re-open the simulator...

Please if you know or you have some information or advices I'll apreciate it so much. Thanks :)