import rospy
from gazebo_msgs.srv import SpawnModel
from geometry_msgs.msg import Pose
from gazebo_utils import deleteModel
import time
rospy.init_node('insert_actor')
initial_pose = Pose()
initial_pose.position.x = 1
initial_pose.position.y = 1
initial_pose.position.z = 0
# loc='/home/qinjielin/RL_Ws/turtleBot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_square/model.sdf'
loc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/actor/actor.sdf'
f = open(loc, 'r')
sdff = f.read()
rospy.wait_for_service('gazebo/spawn_sdf_model')
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
spawn_model_prox("actor0", sdff, " ", initial_pose, "world")
# MB_sdf = open('/home/qinjielin/RL_Ws/turtleBot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf','r')
# sdff_MB = MB_sdf.read()
# spawn_model_prox("my_MB", sdff_MB, " ", initial_pose, "world")
time.sleep(10)
deleteModel("actor0")
print("spawn successfully")
spawn_model_prox(self.name, sdf, " ", initial_pose, "world")
# f.close()
return
if __name__ == '__main__':
rospy.init_node('insert_furniture')
trashLoc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/trash.sdf'
bookshelfLoc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/bookshelf/model.sdf'
cafeTableLoc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/cafe_table/model.sdf'
cudeLoc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/cube_20k/model.sdf'
tableLoc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/table/model.sdf'
tableMarbleLoc = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/table_marble/model.sdf'
tableMarbleLoc2 = '/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/table_marble/model-1_4.sdf'
nameBefore = "my_fur"
pos = Point()
pos.x = 0
pos.y = 0
pos.z = 0.5
angle = 0
fm = FurnitureModel(tableLoc)
fm.spawnModel(pos, angle, nameBefore)
time.sleep(5)
deleteModel(nameBefore)
return lines
rospy.init_node('insert_object')
initial_pose = Pose()
initial_pose.position.x = 0
initial_pose.position.y = 0
initial_pose.position.z = 0
# initial_pose.orientation.w = 0 #cos(theta/2)
# initial_pose.orientation.z = 1 #sin(theta/2)
f = open('/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/trash.sdf',
'rw+')
sdff = f.read()
# lines = customizeWall()
rospy.wait_for_service('gazebo/spawn_sdf_model')
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
# spawn_model_prox("my_wall", StringIO(''.join(lines)).read(), " ", initial_pose, "world")
spawn_model_prox("my_trash", sdff, " ", initial_pose, "world")
f.close()
print("spawn successfully")
time.sleep(5)
deleteModel("my_trash")
import rospy
from gazebo_msgs.srv import SpawnModel
from geometry_msgs.msg import Pose
from gazebo_utils import deleteModel
import time
rospy.init_node('insert_object')
initial_pose = Pose()
initial_pose.position.x = 0
initial_pose.position.y = 0
initial_pose.position.z = 0
loc='/home/qinjielin/RL_Ws/turtleBot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_square/model.sdf'
loc='/home/qinjielin/RL_Ws/turtleBot3_ws/src/basics/models/house_element/cylinder/model.sdf'
f = open(loc,'r')
sdff = f.read()
rospy.wait_for_service('gazebo/spawn_sdf_model')
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
spawn_model_prox("some_robo_name", sdff, " ", initial_pose, "world")
# MB_sdf = open('/home/qinjielin/RL_Ws/turtleBot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf','r')
# sdff_MB = MB_sdf.read()
# spawn_model_prox("my_MB", sdff_MB, " ", initial_pose, "world")
time.sleep(10)
deleteModel("some_robo_name")
print("spawn successfully")
name = nameBefore + '4'
pos.x = 5
pos.y = 2
angle = 0
fm4 = FurnitureModel(tableMarbleLoc)
fm4.spawnModel(pos, angle, name)
name = nameBefore + '5'
pos.x = 5
pos.y = 6
angle = 0
fm5 = FurnitureModel(trashLoc)
fm5.spawnModel(pos, angle, name)
name = nameBefore + '6'
pos.x = 5
pos.y = 8
angle = 0
fm6 = FurnitureModel(bookshelfLoc)
fm6.spawnModel(pos, angle, name)
time.sleep(1000)
deleteModel(wall_model1.name)
deleteModel(wall_model2.name)
deleteModel(wall_model3.name)
deleteModel(fm4.name)
deleteModel(fm5.name)
deleteModel(fm6.name)
# wall_model.spawnXML(pos,angle,size,name)
name = nameBefore + '1'
pos.x = 0
pos.y = 5
angle = 1.57
wall_model1 = WallModel(wallLoc)
wall_model1.spawnModel(pos, angle, size, name)
name = nameBefore + '2'
pos.x = 5
pos.y = 10
angle = 0
wall_model2 = WallModel(wallLoc)
wall_model2.spawnModel(pos, angle, size, name)
name = nameBefore + '3'
pos.x = 10
pos.y = 5
angle = 1.57
wall_model3 = WallModel(wallLoc)
wall_model3.spawnModel(pos, angle, size, name)
time.sleep(10)
deleteModel(wall_model1.name)
deleteModel(wall_model2.name)
deleteModel(wall_model3.name)
def deleteModel(self):
numModels = len(self.models)
for i in range(0,numModels):
deleteModel(self.models[i].name)
return
