Segmentation Camera and Label plugin fails for spawned models

asked 2023-04-19 02:54:26 -0600

Illuminatur gravatar image

updated 2023-04-19 02:56:07 -0600

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 ros_ign_gazebo 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.

edit retag flag offensive close merge delete