Querying collision geometry primitives from ROS in Gazebo 9?
Is there a way to query Gazebo from ROS to get the parameters of a <collision> geometry for the currently loaded world? For example, the radius of a sphere or the dimensions of a box?
I know I can query the world with a /gazebo/get_world_properties service call (or equivalent from C++) and get a list of model names.
I can query each model name and see the geom_names that make up the collision geometry, but I don't see a way to actually query those geometries further?
I can get the obstacles' poses easily enough with /gazebo/get_model_state service calls, but I'm not seeing where I can get the shape and size of the collision geometries to communicate that to my non-ROS planning code.
I can probably figure out how to side-load from the SDF or I can switch to spawning my obstacles from another node that posts their dimensions to the parameter server or something for later queries. But it'd be a fun bonus to actually read out the obstacles' current shape and size so I can also use Scale Mode in the GUI.
Is there a best-practices recipe for communicating the collision geometries of obstacles to ROS code?
Can this be done with a plugin?
Same question, no answers: https://answers.gazebosim.org/questio...
I guess perhaps it's better to use a minimal world and spawn URDF models with
<gazebo>tags here so that the whole thing is posted to the parameter server before its instanced in Gazebo?I'm passing some rosparams at launch to work around this for now ¯\_(ツ)_/¯ I thought about parsing the SDF but if it's not tied to the actual shape of the obstacles in the Gazebo GUI anyway I figured I'd do it the easy way.