attach model to link

Question

Hello,

I've been trying to attach a static model to a link of a mobile robot. Somehow this is completely ignored by gazebo and I don't know why. Please see the code below:

        physics::WorldPtr world = physics::get_world();
        physics::ModelPtr test_model = world->GetModel("test_model");

        physics::LinkPtr link = model->GetLink("link3");
        math::Pose pose;
        pose.Set(1,1,1,0,0,0);
        link->AttachStaticModel(test_model,pose); 

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Originally posted by Max Stähr on Gazebo Answers with karma: 16 on 2013-02-20

Post score: 0

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Original comments

Comment by ffurrer on 2013-02-20:
in what context are you doing this? in a plugin? maybe you could provide us with a file that we could test with.

Comment by Max Stähr on 2013-02-21:
Hi, I cant upload a file because of my insufficient karma < 10.

Comment by Max Stähr on 2013-02-21:
The code is called within the ConnectWorldUpdateStart callback, so it should been updated in every simulation cycle. Is there another way to provide you the file?

Comment by ffurrer on 2013-02-21:
yes, pastebin.com should work, in the case you can't put the link in directly just use some spaces in the link :S. Is there a reason why you're not using SDF for that matter? Do you want to change the attachment state during runtime? Otherwise you can use something like in this tutorial: http://gazebosim.org/wiki/Tutorials/1.4/build\_robot/attach\_gripper

Comment by Max Stähr on 2013-02-27:
Hi, I've just added the file. Can you see the problem?

http://pastebin.com/EECvY9Tn

Comment by Max Stähr on 2013-02-27:
Hi, I've just added the file. Can you see the problem?

Answer 1

A note about your pasted code: Pausing and unpausing the world within an update call does nothing.

Is camera_model a static model?

Make sure to detach a static model before attaching it to a different link.

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Originally posted by nkoenig with karma: 7676 on 2013-03-01

This answer was ACCEPTED on the original site

Post score: 0