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How to set the pose of a box importing data

asked 2020-09-09 09:37:32 -0600

Simone gravatar image

Hi there! I am using gazebo-11 to test the navigation algorithm based on visual odometry implemented on NASA's Curiosity rover.

In particular, I created a stereo camera model and I made it move along a line and take photos at a certain rate. In order to simulate osbtacles I introduced manually (it took me a great amount of time!!!) in the .world file a number of boxes (about 200) which are different from each other in terms of dimensions, position and orientation.

Is there a way to import from a .txt file (or other formats) the information about pose and size of each box so that a box of such size and pose is actually introduced in the Gazebo world (the GUI)?

Probably I have to write a plugin or something similar. Than you so much in advance!!

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answered 2020-09-10 05:34:19 -0600

nlamprian gravatar image

Yes, you can write a world plugin and spawn the models dynamically at runtime.

You can prepare your input data as a yaml file (probably the easiest) and read it in with yaml-cpp. Then you can construct model messages based on that input and publish them so that gazebo can then spawn the models.

See the GUIExampleSpawnWidget example (ignore the gui part).

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Thank you so much!!

Simone gravatar imageSimone ( 2020-09-10 09:48:47 -0600 )edit
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Asked: 2020-09-09 09:37:32 -0600

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Last updated: Sep 10 '20