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

@@ -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`

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.
+        parent = _parent;
-        // The filename must be in the GAZEBO_MODEL_PATH environment variable.
-        parent = _parent; //->InsertModelFile("model://box");
 
         if (!ros::isInitialized())
         {
@@ -63,8 +61,6 @@ public:
 
         // Send the message
         factoryPub->Publish(to_pub);
-
-        // parent->InsertModelFile(std::string("model://") + msg.data);
     }
 
 private:

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;