adapted the environment for EnvInterfaceBase

env_manager/env_interface/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.8)
+project(env_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(INCLUDE_DEPENDS
+  rclcpp_lifecycle
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN LISTS INCLUDE_DEPENDS)
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(${PROJECT_NAME} SHARED
+  src/env_interface_base.cpp)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/env_interface>
+)
+
+ament_target_dependencies(${PROJECT_NAME} PUBLIC ${INCLUDE_DEPENDS})
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ENVIROMENT_INTERFACE_BUILDING_DLL")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/env_interface
+)
+install(TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${INCLUDE_DEPENDS})
+
+ament_package()

env_manager/env_interface/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

env_manager/env_interface/include/env_interface/env_interface.hpp

@@ -0,0 +1,14 @@
+#include "env_interface/env_interface_base.hpp"
+
+namespace env_interface
+{
+    class EnvInterface : public EnvInterfaceBase 
+    {
+        public:
+            EnvInterface() = default;
+            virtual ~EnvInterface() = default;
+
+    };
+} // namespace env_interface
+
+

env_manager/env_interface/include/env_interface/env_interface_base.hpp

@@ -1,9 +1,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
-// TODO: BaseInterface class for next enviroments based on LifecycleNodeInterface
-// It's should be like ControllerInterfaceBase class from ros2_control
-
 namespace env_interface
 {
 

env_manager/env_interface/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>env_interface</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

env_manager/env_interface/src/env_interface_base.cpp

@@ -1,4 +1,4 @@
-#include "env_manager/env_base_interface.hpp"
+#include "env_interface/env_interface_base.hpp"
 
 namespace env_interface
 {

env_manager/env_manager/CMakeLists.txt

@@ -10,6 +10,7 @@ set(INCLUDE_DEPENDS
     rclcpp_lifecycle
     env_manager_interfaces
     pluginlib
+    env_interface
 )
 
 # find dependencies

env_manager/env_manager/config/test_params.yaml

@@ -0,0 +1,9 @@
+env_manager:
+  ros__parameters:
+    gz_enviroment:
+      type: gz_enviroment/GzEnviroment
+  
+
+  gz_enviroment:
+    ros__parameters:
+      mesh_name: "monkey"

env_manager/env_manager/include/env_manager/env_manager.hpp

@@ -7,12 +7,15 @@
 #include "env_manager_interfaces/srv/configure_env.hpp"
 #include "env_manager_interfaces/srv/unload_env.hpp"
 
+#include "env_interface/env_interface.hpp"
+
 #include "pluginlib/class_loader.hpp"
 
 
 namespace env_manager
 {
-using EnvInterfaceSharedPtr = std::shared_ptr<rclcpp_lifecycle::LifecycleNode>;
+using EnvInterface = env_interface::EnvInterface;
+using EnvInterfaceSharedPtr = std::shared_ptr<env_interface::EnvInterface>;
 using EnvStateReturnType = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
 struct EnvSpec
@@ -43,7 +46,7 @@ public:
 
     // EnvInterfaceSharedPtr loadEnv(const std::string& env_name);
     EnvInterfaceSharedPtr loadEnv(const std::string& env_name, const std::string& env_class_type);
-    EnvInterfaceSharedPtr unloadEnv();
+    EnvStateReturnType unloadEnv(const std::string &env_name);
     EnvStateReturnType configureEnv(const std::string& env_name);
     EnvInterfaceSharedPtr addEnv(const EnvSpec& enviment);
 
@@ -87,7 +90,7 @@ private:
     rclcpp::CallbackGroup::SharedPtr m_callback_group;
     rclcpp::Executor::SharedPtr m_executor;
 
-    std::shared_ptr<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>> m_loader;
+    std::shared_ptr<pluginlib::ClassLoader<env_interface::EnvInterface>> m_loader;
 
 
 

env_manager/env_manager/package.xml

@@ -12,6 +12,7 @@
   <depend>env_manager_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>env_inteface</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

env_manager/env_manager/src/env_manager.cpp

@@ -1,8 +1,8 @@
 #include "env_manager/env_manager.hpp"
 #include "nlohmann/json.hpp"
 
-static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAMESPACE = "rclcpp_lifecycle";
+static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAMESPACE = "env_interface";
-static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAME = "rclcpp_lifecycle::LifecycleNode";
+static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAME = "env_interface::EnvInterface";
 
 namespace env_manager
 {
@@ -13,7 +13,7 @@ EnvManager::EnvManager(
     rclcpp::NodeOptions & options) 
     : rclcpp::Node(node_name, node_namespace, options),
       m_executor(executor),
-      m_loader(std::make_shared<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>>(
+      m_loader(std::make_shared<pluginlib::ClassLoader<env_interface::EnvInterface>>(
           ENV_INTERFACE_BASE_CLASS_NAMESPACE, ENV_INTERFACE_BASE_CLASS_NAME))
 {
     initServices();
@@ -77,21 +77,7 @@ EnvManager::unloadEnv_cb(
     env_manager_interfaces::srv::UnloadEnv::Response::SharedPtr response)
 {
     std::lock_guard<std::mutex> lock(m_env_mutex);
-
+    response->ok = unloadEnv(request->name) == EnvStateReturnType::SUCCESS;
-    auto it = std::find_if(m_active_envs.begin(), m_active_envs.end(), [&request](const EnvSpec& env) {
-        return env.name == request->name;
-    });
-
-    if (it != m_active_envs.end()) {
-        m_executor->remove_node(it->env_ptr->get_node_base_interface());
-        m_active_envs.erase(it);
-        response->ok = true;
-    } else {
-        RCLCPP_ERROR(this->get_logger(),
-            "Environment '%s' not found in the active environments list.",
-            request->name.c_str());
-        response->ok = false;
-    }
 }
 
 
@@ -102,8 +88,16 @@ EnvManager::addEnv(const EnvSpec& enviroment)
     // generate list of active enviroments
     // std::string unique_env_name = enviroment.name;// + "_" + std::to_string(m_active_envs.size());
     // m_active_envs[unique_env_name] = enviroment.env_ptr;
+    if (enviroment.env_ptr->init(
+        enviroment.name, get_namespace()) == 
+        rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR)
+    {
+        RCLCPP_ERROR(get_logger(), "Enviroment with name %s cannot been initialized", enviroment.name.c_str());
+        return nullptr;
+    }
+    
     m_active_envs.push_back(enviroment);
-    m_executor->add_node(enviroment.env_ptr->get_node_base_interface());
+    m_executor->add_node(enviroment.env_ptr->getNode()->get_node_base_interface());
     return enviroment.env_ptr;
 }
 
@@ -145,6 +139,26 @@ EnvManager::loadEnv(const std::string& env_name, const std::string& env_class_ty
     return addEnv(enviroment);
 }
 
+EnvStateReturnType
+EnvManager::unloadEnv(const std::string& env_name)
+{
+    auto it = std::find_if(m_active_envs.begin(), m_active_envs.end(), [&env_name](const EnvSpec& env) {
+    return env.name == env_name;
+    });
+
+    if (it != m_active_envs.end()) {
+        m_executor->remove_node(it->env_ptr->getNode()->get_node_base_interface());
+        m_active_envs.erase(it);
+        return EnvStateReturnType::SUCCESS;
+    } else {
+        RCLCPP_ERROR(this->get_logger(),
+            "Environment '%s' not found in the active environments list.",
+            env_name.c_str());
+        return EnvStateReturnType::ERROR;
+    }
+    return EnvStateReturnType::FAILURE;
+}
+
 // EnvInterfaceSharedPtr
 // EnvManager::loadEnv(const std::string env_name)
 // {
@@ -169,7 +183,10 @@ EnvManager::configureEnv(const std::string& env_name)
         return EnvStateReturnType::FAILURE;
     }
     it->env_ptr->configure();
+    // it->env_ptr->getNode()->configure();
     // it->env_ptr->activate();
+    it->env_ptr->getNode()->activate();
+    
     return EnvStateReturnType::SUCCESS;
 }
 

env_manager/gz_enviroment/CMakeLists.txt

@@ -15,6 +15,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     ignition-transport11
     ignition-msgs8
     ros_gz_bridge
+    env_interface
 )
 
 # find dependencies
@@ -38,7 +39,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME} PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 target_compile_definitions(${PROJECT_NAME} PRIVATE "GZENVIROMENT_BUILDING_DLL")
 #TODO: replace rclcpp_lifecycle with custom interface class
-pluginlib_export_plugin_description_file(rclcpp_lifecycle gz_enviroment.xml)
+pluginlib_export_plugin_description_file(env_interface gz_enviroment.xml)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

env_manager/gz_enviroment/gz_enviroment.xml

@@ -1,7 +1,7 @@
 <library path="gz_enviroment">
-    <class 
+    <class
         type="gz_enviroment::GzEnviroment" 
-        base_class_type="rclcpp_lifecycle::LifecycleNode">
+        base_class_type="env_interface::EnvInterface">
       <description>Gazebo enviroment for env_manager</description>
     </class>
   </library>

env_manager/gz_enviroment/include/gz_enviroment/gz_enviroment.hpp

@@ -6,16 +6,18 @@
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <gz/transport/Node.hh>
 #include "gz/msgs/pose_v.pb.h"
+#include "env_interface/env_interface.hpp"
 
 namespace gz_enviroment
 {
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
-class GzEnviroment : public rclcpp_lifecycle::LifecycleNode
+class GzEnviroment : public env_interface::EnvInterface
 {
 public:
 
     GzEnviroment();
+    CallbackReturn on_init() override;
     CallbackReturn on_configure(const rclcpp_lifecycle::State&) override;
     CallbackReturn on_activate(const rclcpp_lifecycle::State&) override;
     CallbackReturn on_deactivate(const rclcpp_lifecycle::State&) override;
@@ -24,17 +26,20 @@ public:
 
 protected:
 
+    void onGzPoseSub(const gz::msgs::Pose_V& pose_v);
+
+    bool doGzSpawn();
 
 private:
     std::unique_ptr<tf2_ros::TransformBroadcaster> m_tf2_broadcaster;
     std::shared_ptr<gz::transport::Node> m_gz_node;
     std::vector<std::string> m_follow_frames;
-
+    std::string m_topic_name;
-    void onGzPoseSub(const gz::msgs::Pose_V& pose_v);
+    std::string m_service_spawn;
-
-    void doGzSpawn();
 
     std::string getGzWorldName();
+    std::string createGzModelString(const std::vector<double>& pose, const std::string& mesh_filepath, const std::string& name);
+
 
 };
 }

env_manager/gz_enviroment/package.xml

@@ -14,6 +14,7 @@
   <depend>tf2_ros</depend>
   <depend>tf2_msgs</depend>
   <depend>ros_gz</depend>
+  <depend>env_interface</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

env_manager/gz_enviroment/src/gz_enviroment.cpp

@@ -1,25 +1,46 @@
 #include "gz_enviroment/gz_enviroment.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "ros_gz_bridge/convert.hpp"
-namespace gz_enviroment
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+
+namespace gz_enviroment {
+
+GzEnviroment::GzEnviroment() : env_interface::EnvInterface() {}
+
+CallbackReturn GzEnviroment::on_init()
 {
-
+    RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment in on_init()");
-GzEnviroment::GzEnviroment()
-: rclcpp_lifecycle::LifecycleNode("gz_enviroment") {}
-
-CallbackReturn 
-GzEnviroment::on_configure(const rclcpp_lifecycle::State& )
-{
-    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_configure");
-
-
     return CallbackReturn::SUCCESS;
 }
 
+CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State& ) {
+    // Configuration of parameters
+    RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_configure");
+    m_gz_node = std::make_shared<gz::transport::Node>();
+    m_topic_name = std::string("/world/") + getGzWorldName() +"/dynamic_pose/info";
+    m_service_spawn = std::string("/world/") + getGzWorldName() + "/create";
+  
+    if (!doGzSpawn()) {
+        return CallbackReturn::ERROR;
+    }
+  
+    return CallbackReturn::SUCCESS;
+}
+
+CallbackReturn GzEnviroment::on_activate(const rclcpp_lifecycle::State&) {
+    // Setting up the subscribers and publishers
+    RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_activate");
+  
+    m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this);
+    m_tf2_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(getNode());
+  
+   return CallbackReturn::SUCCESS;
+}
+
 CallbackReturn 
 GzEnviroment::on_cleanup(const rclcpp_lifecycle::State&)
 {
-    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_cleanup");
+    RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_cleanup");
     
     m_tf2_broadcaster.reset();
     m_gz_node.reset();
@@ -27,34 +48,21 @@ GzEnviroment::on_cleanup(const rclcpp_lifecycle::State&)
     return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn 
-GzEnviroment::on_activate(const rclcpp_lifecycle::State&)
-{
-    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_activate");
-    m_tf2_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(this);
-    m_gz_node = std::make_shared<ignition::transport::Node>();
-
-    std::string m_topic_name = "/world/" + getGzWorldName() +"/dynamic_pose/info";
-    std::string m_service_spawn = "/world/" + getGzWorldName() + "/create";
-
-    m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this);
-    
-    return CallbackReturn::SUCCESS;
-}
-
 CallbackReturn 
 GzEnviroment::on_deactivate(const rclcpp_lifecycle::State&)
 {
-    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_deactivate");
+    RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_deactivate");
     
     
     return CallbackReturn::SUCCESS;
 }
 
+// TODO: Check do this via EntityComponentManager
 void 
 GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V& pose_v)
 {
-    m_follow_frames = {"box1", "box2", "box3", "box4"};
+    // TODO: Read from config
+    m_follow_frames = {"box1", "box2", "box3", "box4", "box5", "box6", "monkey"};
     for (const auto &it: pose_v.pose())
     {   
         if (std::find(m_follow_frames.begin(), m_follow_frames.end(), it.name()) == m_follow_frames.end())
@@ -65,7 +73,7 @@ GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V& pose_v)
         
         geometry_msgs::msg::TransformStamped t;
 
-        t.header.stamp = this->get_clock()->now();
+        t.header.stamp = getNode()->get_clock()->now();
         t.header.frame_id = "world";
         t.child_frame_id = it.name();
 
@@ -92,35 +100,75 @@ GzEnviroment::getGzWorldName()
     gz::msgs::StringMsg_V worlds_msg;
 
     while (rclcpp::ok() && !executed) {
-        RCLCPP_INFO(this->get_logger(), "Requesting list of world names.");
+        RCLCPP_INFO(getNode()->get_logger(), "Requesting list of world names.");
         executed = m_gz_node->Request(service, timeout, worlds_msg, result);
     }
 
     if (!executed) {
-        RCLCPP_INFO(this->get_logger(), "Timed out when getting world names.");
+        RCLCPP_INFO(getNode()->get_logger(), "Timed out when getting world names.");
         return "";
     }
 
     if (!result || worlds_msg.data().empty()) {
-        RCLCPP_INFO(this->get_logger(), "Failed to get world names.");
+        RCLCPP_INFO(getNode()->get_logger(), "Failed to get world names.");
         return "";
     }
-    RCLCPP_INFO(this->get_logger(), "%s", worlds_msg.data(0).c_str());
+    RCLCPP_INFO(getNode()->get_logger(), "%s", worlds_msg.data(0).c_str());
     return worlds_msg.data(0);
 }
 
-void
+bool
 GzEnviroment::doGzSpawn()
 {
-    gz::msgs::EntityFactory entity;
+    gz::msgs::EntityFactory req;
-    gz::msgs::Model model;
+    gz::msgs::Boolean rep;
-    gz::msgs::Link link;
+    bool result;
+    unsigned int timeout = 5000;
+    // TODO: From Config
+    std::vector<double> pps{1.0, 0.0, 1.0, 0.0, 0.0};
+    std::string mesh_file = "monkey.stl";
+    std::string mesh_name = "monkey";
+    // ENDTODO
+    std::string sdf_string = createGzModelString(pps, mesh_file, mesh_name);
+    req.set_sdf(sdf_string);
+    bool executed = m_gz_node->Request(m_service_spawn, req, timeout, rep, result);
 
+    return executed;
+}
+
+std::string 
+GzEnviroment::createGzModelString(
+    const std::vector<double>& pose, 
+    const std::string& mesh_filepath, 
+    const std::string& name
+    )
+{
+  std::string model_template = 
+    std::string("<sdf version='1.7'>") +
+      "<model name='"+ name +"'>" +
+        "<link name='link_"+ name +"'>" +
+          "<pose>"
+          +std::to_string(pose[0])+" "
+          +std::to_string(pose[1])+" "
+          +std::to_string(pose[2])+" "
+          +std::to_string(pose[3])+" "
+          +std::to_string(pose[4])+" "
+          +std::to_string(pose[5])+"</pose>" +
+          "<visual name='visual_"+name+"'>" +
+            "<geometry><mesh><uri>file://"+mesh_filepath+"</uri></mesh></geometry>" +
+          "</visual>" +
+          "<collision name='collision_"+name+"'>" +
+            "<geometry><mesh><uri>file://"+mesh_filepath+"</uri></mesh></geometry>" +
+          "</collision>" +
+        "</link>" +
+      "</model>" +
+    "</sdf>";
+    return model_template;
 }
 
 }
 
 #include "pluginlib/class_list_macros.hpp"
 PLUGINLIB_EXPORT_CLASS(
-    gz_enviroment::GzEnviroment, rclcpp_lifecycle::LifecycleNode
+    gz_enviroment::GzEnviroment, env_interface::EnvInterface
 );

rbs_simulation/launch/simulation.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
         DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("gazebo_gui", default_value="false", description="Launch env_manager?")
+        DeclareLaunchArgument("gazebo_gui", default_value="true", description="Launch env_manager?")
     )
     
     sim_gazebo = LaunchConfiguration("sim_gazebo")