From 01e7902c1f9b4657de602f2a50be04b2078f20b1 Mon Sep 17 00:00:00 2001
From: Sravan Balaji <balajsra@umich.edu>
Date: Sun, 19 Apr 2020 19:40:57 -0400
Subject: [PATCH] Test Insert Object Quit Option

- Add option to stop test insert object
- Remove comments from model_insertion_plugin.cpp
- Update home.md to specify root user when attaching a new terminal
---
 docs/home.md                                          | 2 +-
 rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp | 6 +-----
 rrrobot_ws/src/rrrobot/test/test_insert_object.cpp    | 7 ++++++-
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/docs/home.md b/docs/home.md
index fe3991b..b831a4d 100644
--- a/docs/home.md
+++ b/docs/home.md
@@ -130,4 +130,4 @@ Instructions for working in the GEAR Simulation can be found on the [GEAR](gear.
 - See running containers
   - `docker ps`
 - Attach a new terminal to a running container
-  - `docker exec -it <container> bash`
+  - `docker exec -it -u root <container> bash`
diff --git a/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp b/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp
index 07b3768..a863b4f 100644
--- a/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp
+++ b/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp
@@ -20,9 +20,7 @@ public:
     {
         std::cout << "Loading model insertion plugin" << std::endl;
 
-        // Option 1: Insert model from file via function call.
-        // The filename must be in the GAZEBO_MODEL_PATH environment variable.
-        parent = _parent; //->InsertModelFile("model://box");
+        parent = _parent;
 
         if (!ros::isInitialized())
         {
@@ -63,8 +61,6 @@ public:
 
         // Send the message
         factoryPub->Publish(to_pub);
-
-        // parent->InsertModelFile(std::string("model://") + msg.data);
     }
 
 private:
diff --git a/rrrobot_ws/src/rrrobot/test/test_insert_object.cpp b/rrrobot_ws/src/rrrobot/test/test_insert_object.cpp
index 5ae50e2..559ce14 100644
--- a/rrrobot_ws/src/rrrobot/test/test_insert_object.cpp
+++ b/rrrobot_ws/src/rrrobot/test/test_insert_object.cpp
@@ -18,8 +18,13 @@ int main(int argc, char **argv)
     while (ros::ok())
     {
         rrrobot::model_insertion msg;
-        cout << "Enter the model name: ";
+        cout << "Enter the model name (or 'q' to quit): ";
         cin >> msg.model_name;
+
+        if (msg.model_name == "q") {
+            return 0;
+        }
+
         cout << "Enter the pose: " << endl;
         cout << "x: ";
         cin >> msg.pose.position.x;