Include Multiple Light Sources in .world file

asked 2014-07-10 16:14:45 -0500

K. Zeng gravatar image

Right now, I'm trying to edit a world file so that it includes several light sources upon launch. I based my custom light source on the Sun model's SDF file minus the <pose> tags. This is what my .world file looks like:

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <!-- Light sources -->
      <pose>0.8 -2 5 0 0 0</pose>
      <pose>1 -4 5 0 0 0</pose>
    <!-- A ground plane -->

Even though I specified the pose to spawn in and different names for each light source, the .world file only spawns 1 light source at (0, 0, 0) upon launch. Is there a way to fix these two issues (can only spawn 1 light at only at the origin)? Any help would be greatly appreciated.

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What version of gazebo are you using? We have fixed some bugs related to lights recently in the latest version of gazebo.

scpeters gravatar imagescpeters ( 2014-07-10 20:05:34 -0500 )edit

Gazebo 2.22 in conjunction with ROS Indigo.

K. Zeng gravatar imageK. Zeng ( 2014-07-11 12:38:36 -0500 )edit