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Gazebo 7 recently had an update that allowed lights be added to robot models as children of links: https://bitbucket.org/osrf/gazebo/pull-requests/2807/add-light-as-child-of-link/diff%3C/p%3E

The SDF spec supports things like light shape, distance, and attenuation, but the robot I'm working on has dimmable lights, and so far I haven't been able to find out how to change the light intensity using the gazebo API. I looked in gazebo:physics API and I was able to find the Light class as well as the LightState class, but those don't seem to govern the settings I'm looking for.

Originally posted by amish on Gazebo Answers with karma: 3 on 2018-01-31

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You should look into rendering::Light. There's an explanation here about the Light's multiple personalities.

Originally posted by chapulina with karma: 7504 on 2018-01-31

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