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Allows models to be inserted at a specific location

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This commit is contained in:
Derek Witcpalek
2020-04-18 00:37:32 -04:00
parent f8a3f769e9
commit f0e3eef22a
1 changed files with 26 additions and 1 deletions
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27
rrrobot_ws/src/simulation_env/src/model_insertion_plugin.cpp
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@@ -38,7 +38,32 @@ public:
{
std::cout << "Received message to load model: " << msg.data << std::endl;
parent->InsertModelFile(std::string("model://") + msg.data);
// Create a new transport node
transport::NodePtr node(new transport::Node());
// Initialize the node with the world name
node->Init(parent->Name());
// Create a publisher on the ~/factory topic
transport::PublisherPtr factoryPub =
node->Advertise<msgs::Factory>("~/factory");
// Create the message
msgs::Factory to_pub;
// Model file to load
to_pub.set_sdf_filename(std::string("model://") + msg.data);
// Pose to initialize the model to
msgs::Set(to_pub.mutable_pose(),
ignition::math::Pose3d(
ignition::math::Vector3d(2, 0, 0),
ignition::math::Quaterniond(0, 0, 0)));
// Send the message
factoryPub->Publish(to_pub);
// parent->InsertModelFile(std::string("model://") + msg.data);
}
private: