Dear community,

we have recently found out, that the segmentation camera in conjunction with the label plugin (ignition::gazebo::systems::Label) only works for models, which are already defined before startup in the *.world.

If we are spawning models during runtime of the simulation, the labels of the spawned models are not visualized. For spawning during runtime we used the create script from rosigngazebo in a launch file:

<node pkg="ros_ign_gazebo" type="create" name="$(anon ros_ign)" output="$(arg output)" args=""/> 

In both cases the model was defined with the plugin in such way:

  <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
        <label>10</label>
  </plugin>

Since we would like to append models during runtime and to be detected by the segmentation camera, any help would be appreciated to solve this issue.

BR.