How to set the pose of a box importing data

Question

Hi there! I am using gazebo-11 to test the navigation algorithm based on visual odometry implemented on NASA's Curiosity rover.

In particular, I created a stereo camera model and I made it move along a line and take photos at a certain rate. In order to simulate osbtacles I introduced manually (it took me a great amount of time!!!) in the .world file a number of boxes (about 200) which are different from each other in terms of dimensions, position and orientation.

Is there a way to import from a .txt file (or other formats) the information about pose and size of each box so that a box of such size and pose is actually introduced in the Gazebo world (the GUI)?

Probably I have to write a plugin or something similar. Than you so much in advance!!

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Originally posted by Simone on Gazebo Answers with karma: 30 on 2020-09-09

Post score: 0

Answer 1

Yes, you can write a world plugin and spawn the models dynamically at runtime.

You can prepare your input data as a yaml file (probably the easiest) and read it in with yaml-cpp. Then you can construct model messages based on that input and publish them so that gazebo can then spawn the models.

See the GUIExampleSpawnWidget example (ignore the gui part).

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Originally posted by nlamprian with karma: 833 on 2020-09-10

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Simone on 2020-09-10:
Thank you so much!!