Attach spotlights to robot links in Gazebo 1.9 + ROS Hydro?
Is it possible to do anything like attach a light to robot and then have it move around with the robot?
<gazebo reference="chassis">
<light type="spot" name="front_spot">
<pose>1 0 0 0 0 0</pose>
<diffuse>0 1 0 1</diffuse>
<attenuation>
<range>10</range>
<constant>0.2</constant>
<linear>0.01</linear>
</attenuation>
<direction>1 0 0</direction>
</light>
</gazebo>
(this is what I tried adding to my ros urdf file but I get this error I believe when the conversion to sdf is happening:
Error [parser.cc:697] XML Element[light], child of element[link] not defined in SDF. Ignoring.[link]
Update - one thing I've tried is use a texture projector, with a spotlight that fades from white to 100% transparent at the edges. This doesn't work because the projected texture looks to be purely additive, it'll produce a spot but not reveal the texture in the model it is being projected on.