SDF Models nested with <include> tag are located at their parent origin regardless of the <pose> tag.

asked 2020-08-16 08:15:12 -0600

loliv gravatar image

Hi, In Gazebo 11, I am trying to build the following structure: The world file includes a room model:

<include>
        <uri>model://room</uri>
        <name>room</name>
        <pose> -1.5 -7 0 0 0 0</pose>
</include>

The room model contains several items like this one:

<include>
          <pose> 3.4 11 1 0 0 0</pose>
          <uri>model://pylon</uri>
          <name>pylon01</name> 
</include>

The room is inserted at the right location in the world, however, all the nested items are inserted at the origin of the room as if the pose was 0 in all 6 coordinates.

By the way, if i don't use the "include" tag and put all models directly in the world file, everything works (but zero modularity).

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