API review

Proposer: John Hsu

Present at review:

Bhaskara, Wim

Question / concerns / comments

I would like to propose keeping spawn_gazebo_model's functionalities, and put off more advanced API which will require a plugin based interface from last review, targeted for future release.

Current usage of spawn_gazebo_model:

rosrun gazebo_tools spawn_gazebo_model -h

Usage: ./gazebo_tools/bin/spawn_gazebo_model [param_name] [options]
  Example: ./gazebo_tools/bin/spawn_gazebo_model --help
  Example: ./gazebo_tools/bin/spawn_gazebo_model robot_description -x 10
  Example: ./gazebo_tools/bin/spawn_gazebo_model -i my_urdf_file.urdf -o gazebo_model.xml -x 10
  Example: ./gazebo_tools/bin/spawn_gazebo_model -e pr2_model
Allowed options:
  -h [ --help ]               produce this help message
  -m [ --model-name ] arg     overwrite name of the gazebo model in simulation.
                              If not specified, the model name defaults to the 
                              name in urdf.
  -n [ --namespace ] arg      ROS namespace of the model spawned in simulation.
                              If not specified, the namespace of this node is 
                              used.
  -i [ --file-in ] arg        read input model from file, not from the 
                              parameter server.  Do not specify param_name if 
                              an input filename is provided.
  -o [ --file-out ] arg       write converted gazebo model xml to a file 
                              instead, model is not spawned in simulation.
  -l [ --skip-joint-limits ]  do not enforce joint limits during urdf-->gazebo 
                              conversion.
  -x [ --init-x ] arg         set initial x position of model.
  -y [ --init-y ] arg         set initial y position of model.
  -z [ --init-z ] arg         set initial z position of model.
  -w [ --yaw ] arg            set initial yaw (rz) of model.  application 
                              orders are r-p-y.
  -p [ --pitch ] arg          set initial pitch (ry) of model.  application 
                              orders are r-p-y.
  -r [ --roll ] arg           set initial roll (rx) of model.  application 
                              orders are r-p-y.
  -e [ --remove ] arg         remove existing model in simulation (to be 
                              implemented)

Meeting agenda

Change to

rosrun gazebo_tools gazebo_model [options] <spawn|kill> <model_name>

  -h [ --help ]               produce this help message
  -p [ --param-name ] arg     spawn model from XML string on parameter server.
  -m [ --model-name ] arg     overwrite name of the gazebo model in simulation.
                              If not specified, the model name defaults to the 
                              name in urdf.
  -n [ --namespace ] arg      ROS namespace of the model spawned in simulation.
                              If not specified, the namespace of this node is 
                              used.
  -f [ --file-in ] arg        read input model from file, not from the 
                              parameter server.  Do not specify param_name if 
                              an input filename is provided.
  -o [ --file-out ] arg       write converted gazebo model xml to a file 
                              instead, model is not spawned in simulation.
  -s [ --skip-joint-limits ]  do not enforce joint limits during urdf-->gazebo 
                              conversion.
  -x [ --init-x ] arg         set initial x position of model, default to 0.
  -y [ --init-y ] arg         set initial y position of model, default to 0.
  -z [ --init-z ] arg         set initial z position of model, default to 0.
  -R [ --init-roll ] arg      set initial roll (rx) of model, default to 0.  application 
                              orders are r-p-y.
  -P [ --init-pitch ] arg     set initial pitch (ry) of model, default to 0.  application 
                              orders are r-p-y.
  -Y [ --init-yaw ] arg       set initial yaw (rz) of model, default to 0.  application 
                              orders are r-p-y.

do type checking for each option. especially between -R and -r, -P and -p, -Y and -y.

Conclusion

Package status change mark change manifest)

$/!\$ Action items that need to be taken.
Major issues that need to be resolved