Python srv.DeleteModel方法代碼示例

# 需要導入模塊: from gazebo_msgs import srv [as 別名]
# 或者: from gazebo_msgs.srv import DeleteModel [as 別名]
def delete_model(mav_sys_id, vehicle_type, ros_master_uri=None):
    if ros_master_uri:
        original_uri = os.environ[ROS_MASTER_URI]
        os.environ[ROS_MASTER_URI] = ros_master_uri
    srv = ServiceProxy('/gazebo/delete_model', DeleteModel)

    req = DeleteModelRequest()
    unique_name = vehicle_type + '_' + str(mav_sys_id)
    req.model_name = unique_name

    resp = srv(req)

    if ros_master_uri:
        os.environ[ROS_MASTER_URI] = original_uri

    if resp.success:
        print(resp.status_message, '(%s)' % unique_name)
        return 0
    else:
        print("failed to delete model [%s]: %s" %
              (unique_name, resp.status_message), file=sys.stderr)
        return 1 

# 需要導入模塊: from gazebo_msgs import srv [as 別名]
# 或者: from gazebo_msgs.srv import DeleteModel [as 別名]
def delete_gazebo_models(model_list):
    # This will be called on ROS Exit, deleting Gazebo models
    # Do not wait for the Gazebo Delete Model service, since
    # Gazebo should already be running. If the service is not
    # available since Gazebo has been killed, it is fine to error out
    try:
        delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)

        for model in model_list:
            resp_delete = delete_model(model)
    except rospy.ServiceException as e:
        print("Delete Model service call failed: {0}".format(e)) 

# 需要導入模塊: from gazebo_msgs import srv [as 別名]
# 或者: from gazebo_msgs.srv import DeleteModel [as 別名]
def initial_setup():
    """ Prepares the Gazebo world for generating training data.

        In particular, this routine turns off gravity, so that the objects
        spawned in front of the RGBD camera will not fall. It also deletes
        the ground plane, so that the only depth points produce will
        correspond to the object of interest (eliminating the need for
        clustering and segmentation as part of the trianing process)

        Args: None

        Returns: None
    """
    rospy.wait_for_service('gazebo/get_model_state')
    rospy.wait_for_service('gazebo/set_model_state')
    rospy.wait_for_service('gazebo/get_physics_properties')
    rospy.wait_for_service('gazebo/set_physics_properties')
    rospy.wait_for_service('gazebo/spawn_sdf_model')

    get_physics_properties_prox = rospy.ServiceProxy('gazebo/get_physics_properties', GetPhysicsProperties)
    physics_properties = get_physics_properties_prox()

    physics_properties.gravity.z = 0

    set_physics_properties_prox = rospy.ServiceProxy('gazebo/set_physics_properties', SetPhysicsProperties)
    set_physics_properties_prox(physics_properties.time_step,
                                physics_properties.max_update_rate,
                                physics_properties.gravity,
                                physics_properties.ode_config)


    delete_model_prox = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
    delete_model_prox('ground_plane') 

# 需要導入模塊: from gazebo_msgs import srv [as 別名]
# 或者: from gazebo_msgs.srv import DeleteModel [as 別名]
def delete_model():
    # Delete the old model if it's stil around
    delete_model_prox = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
    delete_model_prox('training_model') 

# 需要導入模塊: from gazebo_msgs import srv [as 別名]
# 或者: from gazebo_msgs.srv import DeleteModel [as 別名]
def reset(self):
        rospy.wait_for_service("gazebo/set_model_configuration")
        configure = rospy.ServiceProxy("gazebo/set_model_configuration", SetModelConfiguration)
        configure(model_name=self.model_name,
                joint_names=self.joint_names,
                joint_positions=self.joint_positions)
        rospy.wait_for_service("gazebo/delete_model")
        delete_model = rospy.ServiceProxy("gazebo/delete_model", DeleteModel)
        delete_model("gbeam_soup")
        res = subprocess.call([
            "roslaunch",
            "costar_simulation",
            self.experiment_file,
            "experiment:=%s"%self.case])
        res = subprocess.call(["rosservice","call","publish_planning_scene"]) 

# 需要導入模塊: from gazebo_msgs import srv [as 別名]
# 或者: from gazebo_msgs.srv import DeleteModel [as 別名]
def deleteModel(self):
        while True:
            if self.check_model:
                rospy.wait_for_service('gazebo/delete_model')
                del_model_prox = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
                del_model_prox(self.modelName)
                break
            else:
                pass