Dear Gazebo Community,
is it possible to spawn / create an entity from within a plugin in Ignition gazebo fortress?
I would like to create an initial entity in a plugin, which behaves such as a WorldPlugin in the "old" Gazebo world and is responsible for this entity, may additional entities during simulation runtime.
Therefore, the callback
cpp public: void Configure(const ignition::gazebo::Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, ignition::gazebo::EntityComponentManager &_ecm, ignition::gazebo::EventManager &_eventMgr) final;
should be the appropriate step.
I would guess, that using a service request, such as in ros_ign_gazebo's create.cpp
std::string service{"/world/" + FLAGS_world + "/create"};
// Request message
ignition::msgs::EntityFactory req;
// File
if (!FLAGS_file.empty())
{
req.set_sdf_filename(FLAGS_file);
}
// Param
else if (!FLAGS_param.empty())
{
std::string xmlStr;
if (nh.getParam(FLAGS_param, xmlStr))
{
req.set_sdf(xmlStr);
}
else
{
ROS_ERROR("Failed to get XML from param [%s].", FLAGS_param.c_str());
return -1;
}
}
// string
else if (!FLAGS_string.empty())
{
req.set_sdf(FLAGS_string);
}
else
{
ROS_ERROR("Must specify either -file, -param or -stdin");
return -1;
}
// Pose
ignition::math::Pose3d pose
{
FLAGS_x,
FLAGS_y,
FLAGS_z,
FLAGS_R,
FLAGS_P,
FLAGS_Y
};
ignition::msgs::Set(req.mutable_pose(), pose);
// Name
if (!FLAGS_name.empty())
{
req.set_name(FLAGS_name);
}
if (FLAGS_allow_renaming)
{
req.set_allow_renaming(FLAGS_allow_renaming);
}
// Request
ignition::transport::Node node;
ignition::msgs::Boolean rep;
bool result;
unsigned int timeout = 5000;
bool executed = node.Request(service, req, timeout, rep, result);
if (executed)
{
if (result && rep.data())
ROS_INFO("Requested creation of entity.");
else
ROS_ERROR("Failed request to create entity.\n %s", req.DebugString().c_str());
}
else
{
ROS_ERROR("Request to create entity from service [%s] timed out..\n %s",
service.c_str(), req.DebugString().c_str());
}
[...]
maybe causes a blocking simulation. Is there another way of accessing the spawning mechanism directly via ign API?
BR and thx.
