parse rbs asm config from yaml to ros2 msg
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@ -152,6 +152,55 @@ std::string GzEnviroment::getGzWorldName() {
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return worlds_msg.data(0);
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}
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// bool GzEnviroment::doGzSpawn() {
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// gz::msgs::EntityFactory req;
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// gz::msgs::Boolean rep;
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// bool result;
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// unsigned int timeout = 5000;
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// bool executed;
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//
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// auto env_models = m_config_loader->getEnvModels();
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// for (auto &model : *env_models) {
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// std::string sdf_string =
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// createGzModelString(model.model_pose, model.model_inertia, model.mass,
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// model.mesh_path, model.model_name);
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// req.set_sdf(sdf_string);
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// executed = m_gz_node->Request(m_service_spawn, req, timeout, rep, result);
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// }
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// return executed;
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// }
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// std::string GzEnviroment::createGzModelString(
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// const std::vector<double> &pose, const std::vector<double> &inertia,
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// const double &mass, const std::string &mesh_filepath,
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// const std::string &name) {
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// std::string model_template =
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// std::string("<sdf version='1.7'>") + "<model name='" + name + "'>" +
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// "<link name='link_" + name + "'>" + "<static>1</static>" + "<pose>" +
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// std::to_string(pose[0]) + " " + std::to_string(pose[1]) + " " +
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// std::to_string(pose[2]) + " " + std::to_string(pose[3]) + " " +
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// std::to_string(pose[4]) + " " + std::to_string(pose[5]) +
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// "</pose>"
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// // + "<inertial>"
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// // + "<inertia>"
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// // + "<ixx>" + std::to_string(inertia[0]) + "</ixx>"
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// // + "<ixy>" + std::to_string(inertia[1]) + "</ixy>"
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// // + "<ixz>" + std::to_string(inertia[2]) + "</ixz>"
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// // + "<iyy>" + std::to_string(inertia[3]) + "</iyy>"
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// // + "<iyz>" + std::to_string(inertia[4]) + "</iyz>"
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// // + "<izz>" + std::to_string(inertia[5]) + "</izz>"
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// // + "</inertia>"
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// // + "<mass>" + std::to_string(mass) + "</mass>"
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// // + "</inertial>"
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// + "<visual name='visual_" + name + "'>" + "<geometry><mesh><uri>file://" +
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// mesh_filepath + "</uri></mesh></geometry>" + "</visual>" +
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// "<collision name='collision_" + name + "'>" +
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// "<geometry><mesh><uri>file://" + mesh_filepath +
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// "</uri></mesh></geometry>" + "</collision>" + "</link>" + "</model>" +
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// "</sdf>";
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// return model_template;
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// }
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} // namespace gz_enviroment
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#include "pluginlib/class_list_macros.hpp"
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