Refactor spawn_model script #730

kev-the-dev · 2018-05-25T22:58:07Z

Implement #729:

parse arguments using argparse (much less code and easier to read than manually parsing arguments)
Fix spawn_model logging issue #597 (argument parsing errors are printed instead of roslogged as they occur before node initialization)
Remove deprecated -gazebo option
Remove references to trimesh format and options (they were never parsed in the script)
Exit with non-zero exit code on failure so scripts can see if spawn_model succeeded
Initialize node anonymously so multiple instances can run simultaneously
Various style (pep8 compliant) / readability changes
Update the comments on a service which was inaccurate
Add option to read model from stdin (originally proposed in add option to input xml from stdin to spawn_model #603)
Use python standard library xml to parse xml string to verify correctness, allow for more robust -package_to_model flag (issue 449)

I've tested all of the options on my own machine, not sure if any CI tests involve this script.

Old help message:

kallen@bender:~$ rosrun gazebo_ros spawn_model -h
SpawnModel script started
Commands:
    -[urdf|sdf|trimesh|gazebo] - specify incoming xml is urdf, sdf or trimesh format. gazebo arg is deprecated in ROS Hydro
    -[file|param|database] [<file_name>|<param_name>|<model_name>] - source of the model xml or the trimesh file
    -model <model_name> - name of the model to be spawned.
    -reference_frame <entity_name> - optional: name of the model/body where initial pose is defined.
                                     If left empty or specified as "world", gazebo world frame is used.
    -gazebo_namespace <gazebo ros_namespace> - optional: ROS namespace of gazebo offered ROS interfaces.  Defaults to /gazebo/ (e.g. /gazebo/spawn_model).
    -robot_namespace <robot ros_namespace> - optional: change ROS namespace of gazebo-plugins.
    -unpause - optional: !!!Experimental!!! unpause physics after spawning model
    -wait - optional: !!!Experimental!!! wait for model to exist
    -trimesh_mass <mass in kg> - required if -trimesh is used: linear mass
    -trimesh_ixx <moment of inertia in kg*m^2> - required if -trimesh is used: moment of inertia about x-axis
    -trimesh_iyy <moment of inertia in kg*m^2> - required if -trimesh is used: moment of inertia about y-axis
    -trimesh_izz <moment of inertia in kg*m^2> - required if -trimesh is used: moment of inertia about z-axis
    -trimesh_gravity <bool> - required if -trimesh is used: gravity turned on for this trimesh model
    -trimesh_material <material name as a string> - required if -trimesh is used: E.g. Gazebo/Blue
    -trimesh_name <link name as a string> - required if -trimesh is used: name of the link containing the trimesh
    -x <x in meters> - optional: initial pose, use 0 if left out
    -y <y in meters> - optional: initial pose, use 0 if left out
    -z <z in meters> - optional: initial pose, use 0 if left out
    -R <roll in radians> - optional: initial pose, use 0 if left out
    -P <pitch in radians> - optional: initial pose, use 0 if left out
    -Y <yaw in radians> - optional: initial pose, use 0 if left out
    -J <joint_name joint_position> - optional: initialize the specified joint at the specified value
    -package_to_model - optional: convert urdf <mesh filename="package://..." to <mesh filename="model://..."
    -b - optional: bond to gazebo and delete the model when this program is interrupted

New help message:

kallen@bender:~$ rosrun gazebo_ros spawn_model -h
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]

Spawn a model in gazebo using the ROS API

optional arguments:
  -h, --help            show this help message and exit
  -urdf                 Incoming xml is in urdf format
  -sdf                  Incoming xml is in sdf format
  -file FILE_NAME       Load model xml from file
  -param PARAM_NAME     Load model xml from ROS parameter
  -database MODEL_NAME  Load model XML from specified model in Gazebo Model
                        Database
  -model MODEL_NAME     Name of model to spawn
  -reference_frame REFERENCE_FRAME
                        Name of the model/body where initial pose is defined.
                        If left empty or specified as "world", gazebo world
                        frame is used
  -gazebo_namespace GAZEBO_NAMESPACE
                        ROS namespace of gazebo offered ROS interfaces.
                        Defaults to /gazebo/
  -robot_namespace ROBOT_NAMESPACE
                        change ROS namespace of gazebo-plugins
  -unpause              !!!Experimental!!! unpause physics after spawning
                        model
  -wait MODEL_NAME      !!!Experimental!!! wait for model to exist
  -x X                  x component of initial position, meters
  -y Y                  y component of initial position, meters
  -z Z                  z component of initial position, meters
  -R R                  roll angle of initial orientation, radians
  -P P                  pitch angle of initial orientation, radians
  -Y Y                  yaw angle of initial orientation, radians
  -J JOINT_NAME JOINT_POSITION
                        initialize the specified joint at the specified
                        position
  -package_to_model     convert urdf <mesh filename="package://..." to <mesh
                        filename="model://..."
  -b                    bond to gazebo and delete the model when this program
                        is interrupted

* parse arguments with argparse * remove deprecated/unused -gazebo and -trimesh options

…simulation#449)

j-rivero

Kevin, this is awesome! some code quality finally to spawn_model. I was testing different options and did not make it to fail. If you could please include the following patch to fix some problems in tests, that would be great:

diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro
index c14674e..f6b6fe8 100644
--- a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro
+++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="battery_block" params="name parent x y z mass">
 
diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro
index d33f1ca..df6e312 100644
--- a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro
+++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro
@@ -3,7 +3,7 @@
   see https://github.com/uos/uos_tools/blob/fuerte/uos_common_urdf/common.xacro and
   see http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- see https://secure.wikimedia.org/wikipedia/en/wiki/List_of_moment_of_inertia_tensors -->
 
@@ -42,7 +42,7 @@
   <xacro:macro name="sphere_inertial_with_origin" params="radius mass *origin">
     <inertial>
       <mass value="${mass}" />
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <inertia ixx="${0.4 * mass * radius * radius}" ixy="0.0" ixz="0.0"
         iyy="${0.4 * mass * radius * radius}" iyz="0.0"
         izz="${0.4 * mass * radius * radius}" />
@@ -52,7 +52,7 @@
   <xacro:macro name="cylinder_inertial_with_origin" params="radius length mass *origin">
     <inertial>
       <mass value="${mass}" />
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
         iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
         izz="${0.5 * mass * radius * radius}" />
@@ -62,7 +62,7 @@
   <xacro:macro name="box_inertial_with_origin" params="x y z mass *origin">
     <inertial>
       <mass value="${mass}" />
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <inertia ixx="${0.0833333 * mass * (y*y + z*z)}" ixy="0.0" ixz="0.0"
         iyy="${0.0833333 * mass * (x*x + z*z)}" iyz="0.0"
         izz="${0.0833333 * mass * (x*x + y*y)}" />
diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro
index 4daddb6..77f4a55 100644
--- a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro
+++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="pioneer_chassis" params="name parent xyz rpy meshes">
 
diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro
index 5bdf7a8..a6c2fcc 100644
--- a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro
+++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="pioneer_sonar" params="name parent xyz rpy meshes">
 
diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro
index 1cba807..ed9c5a0 100644
--- a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro
+++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="pioneer_swivel" params="parent xyz rpy meshes">
 
diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro
index 9c0f87e..2d0bf2d 100644
--- a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro
+++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="pioneer_wheel" params="side parent xyz rpy radius meshes">
 
diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro
index ed07e4e..8d0e15e 100644
--- a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro
+++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro
@@ -3,7 +3,7 @@
   see https://github.com/uos/uos_tools/blob/fuerte/uos_common_urdf/common.xacro and
   see http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- see https://secure.wikimedia.org/wikipedia/en/wiki/List_of_moment_of_inertia_tensors -->
 
@@ -42,7 +42,7 @@
   <xacro:macro name="sphere_inertial_with_origin" params="radius mass *origin">
     <inertial>
       <mass value="${mass}" />
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <inertia ixx="${0.4 * mass * radius * radius}" ixy="0.0" ixz="0.0"
         iyy="${0.4 * mass * radius * radius}" iyz="0.0"
         izz="${0.4 * mass * radius * radius}" />
@@ -52,7 +52,7 @@
   <xacro:macro name="cylinder_inertial_with_origin" params="radius length mass *origin">
     <inertial>
       <mass value="${mass}" />
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
         iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
         izz="${0.5 * mass * radius * radius}" />
diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro
index a6ea3db..2c88aa7 100644
--- a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro
+++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
-  <property name="radius_actuated_wheel" value="0.135" />
-  <property name="radius_encoder_wheel" value="0.135" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="radius_actuated_wheel" value="0.135" />
+  <xacro:property name="radius_encoder_wheel" value="0.135" />
 
   <xacro:include filename="inertia_tensors.xacro"/>
   <xacro:include filename="tricycle_chassis.xacro"/>
diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro
index bced5fa..13e02c6 100644
--- a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro
+++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
-  <property name="DX" value="2.500" />
-  <property name="DY" value="0.60" />
-  <property name="DZ" value="0.1" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="DX" value="2.500" />
+  <xacro:property name="DY" value="0.60" />
+  <xacro:property name="DZ" value="0.1" />
 
   <xacro:macro name="tricycle_chassis" params="name parent xyz rpy meshes">
 
diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro
index 3738ee3..5fb440a 100644
--- a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro
+++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="wheel" params="name parent xyz rpy radius length meshes">
 
diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro
index 1ae0f39..a338397 100644
--- a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro
+++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:macro name="wheel_actuated" params="name parent xyz rpy radius length meshes">
 
diff --git a/gazebo_plugins/test2/large_models/large_model.launch b/gazebo_plugins/test2/large_models/large_model.launch
index e33de64..d70cfbe 100644
--- a/gazebo_plugins/test2/large_models/large_model.launch
+++ b/gazebo_plugins/test2/large_models/large_model.launch
@@ -9,19 +9,19 @@
   </group>
 
   <!-- start empty world -->
-  <node name="empty_world_server" pkg="gazebo" type="gazebo" args="-u $(find gazebo_tests)/test/large_models/large_models.world" respawn="false" output="screen"/>
+  <node name="empty_world_server" pkg="gazebo_ros" type="gazebo" args="-u $(find gazebo_plugins)/test/large_models/large_models.world" respawn="false" output="screen"/>
 
   <!-- start gui -->
   <group if="$(arg gui)">
-    <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>
+    <node name="gazebo_gui" pkg="gazebo_ros" type="gui" respawn="false" output="screen"/>
   </group>
 
   <!-- send urdf to param server -->
   <!--
-  <param name="robot_description" textfile="$(find gazebo_tests)/test/pendulum.model" />
+  <param name="robot_description" textfile="$(find gazebo_plugins)/test/pendulum.model" />
   -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find gazebo_tests)/test/large_models/large_model.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find gazebo_plugins)/test2/large_models/large_model.urdf.xacro'" />
   <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_pr2_model" pkg="gazebo" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -urdf -param robot_description -model pr2" respawn="false" output="screen" />
+  <node name="spawn_pr2_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -urdf -param robot_description -model pr2" respawn="false" output="screen" />
 
 </launch>
diff --git a/gazebo_plugins/test2/large_models/large_model.urdf.xacro b/gazebo_plugins/test2/large_models/large_model.urdf.xacro
index 1a48120..0237e79 100644
--- a/gazebo_plugins/test2/large_models/large_model.urdf.xacro
+++ b/gazebo_plugins/test2/large_models/large_model.urdf.xacro
@@ -20,8 +20,8 @@
   -->
   <xacro:macro name="one_link" params="link_name parent *axis *origin material">
     <joint name="${link_name}_joint" type="continuous" >
-      <insert_block name="origin"/>
-      <insert_block name="axis"/>
+      <xacro:insert_block name="origin"/>
+      <xacro:insert_block name="axis"/>
       <parent link="${parent}" />
       <child link="${link_name}" />
       <dynamics damping="0.0" />
diff --git a/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro b/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro
index a4caa13..d8bf621 100644
--- a/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro
+++ b/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro
@@ -20,8 +20,8 @@
   -->
   <xacro:macro name="one_link" params="link_name parent *axis *origin material">
     <joint name="${link_name}_joint" type="continuous" >
-      <insert_block name="origin"/>
-      <insert_block name="axis"/>
+      <xacro:insert_block name="origin"/>
+      <xacro:insert_block name="axis"/>
       <parent link="${parent}" />
       <child link="${link_name}" />
       <dynamics damping="100.0" />
diff --git a/gazebo_plugins/test2/spawn_model/spawn_box.launch b/gazebo_plugins/test2/spawn_model/spawn_box.launch
index 6123c56..7ffcde2 100644
--- a/gazebo_plugins/test2/spawn_model/spawn_box.launch
+++ b/gazebo_plugins/test2/spawn_model/spawn_box.launch
@@ -3,8 +3,8 @@
   <!-- start gazebo with an empty plane -->
   <param name="/use_sim_time" value="true" />
 
-  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_tests)/test/worlds/empty.world" respawn="false" output="screen"/>
+  <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="$(find gazebo_plugins)/test/worlds/empty.world" respawn="false" output="screen"/>
 
-  <test test-name="gazebo_tests" pkg="gazebo_tests" type="spawn_box" args="$(find gazebo_tests)/test/urdf/box.urdf" />
+  <test test-name="gazebo_tests" pkg="gazebo_tests" type="spawn_box" args="$(find gazebo_ros)/test2/urdf/box.urdf" />
 
 </launch>
diff --git a/gazebo_plugins/test2/spawn_model/spawn_box_file.launch b/gazebo_plugins/test2/spawn_model/spawn_box_file.launch
index de46c64..e88b93f 100644
--- a/gazebo_plugins/test2/spawn_model/spawn_box_file.launch
+++ b/gazebo_plugins/test2/spawn_model/spawn_box_file.launch
@@ -3,11 +3,11 @@
   <!-- start gazebo with an empty plane -->
   <param name="/use_sim_time" value="true" />
 
-  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_tests)/test/worlds/empty.world" respawn="false" output="screen"/>
+  <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="$(find gazebo_plugins)/test/worlds/empty.world" respawn="false" output="screen"/>
 
   <!-- spawn in gazebo -->
-  <node name="spawn_box" pkg="gazebo" type="spawn_model" args="-urdf -file $(find gazebo_tests)/test/urdf/box.urdf -z 1.0 -model box" respawn="false" output="screen" />
+  <node name="spawn_box" pkg="gazebo_ros" type="spawn_model" args="-urdf -file $(find gazebo_plugins)/test2/urdf/box.urdf -z 1.0 -model box" respawn="false" output="screen" />
 
   <!-- check for model -->
-  <test test-name="gazebo_tests" pkg="gazebo_tests" type="check_model" args="10 box" />
+  <test test-name="gazebo_plugins" pkg="gazebo_plugins" type="check_model" args="10 box" />
 </launch>
diff --git a/gazebo_plugins/test2/spawn_model/spawn_box_param.launch b/gazebo_plugins/test2/spawn_model/spawn_box_param.launch
index 6713191..c630e20 100644
--- a/gazebo_plugins/test2/spawn_model/spawn_box_param.launch
+++ b/gazebo_plugins/test2/spawn_model/spawn_box_param.launch
@@ -3,13 +3,13 @@
   <!-- start gazebo with an empty plane -->
   <param name="/use_sim_time" value="true" />
 
-  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_tests)/test/worlds/empty.world" respawn="false" output="screen"/>
+  <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="$(find gazebo_plugins)/test/worlds/empty.world" respawn="false" output="screen"/>
 
   <!-- send table urdf to param server -->
-  <param name="box_description" command="$(find xacro)/xacro.py $(find gazebo_tests)/test/urdf/box.urdf" />
+  <param name="box_description" command="cat $(find gazebo_plugins)/test2/urdf/box.urdf" />
 
   <!-- spawn in gazebo -->
-  <node name="spawn_box" pkg="gazebo" type="spawn_model" args="-urdf -param box_description -z 1.0 -model box" respawn="false" output="screen" />
+  <node name="spawn_box" pkg="gazebo_ros" type="spawn_model" args="-urdf -param box_description -z 1.0 -model box" respawn="false" output="screen" />
 
   <!-- check for model -->
   <test test-name="gazebo_tests" pkg="gazebo_tests" type="check_model" args="10 box" />

kev-the-dev · 2018-07-06T00:04:36Z

Thanks for the patch, looks like it worked! I've also tested this extensively so will go ahead and merge

Refactor spawn_model script

kev-the-dev force-pushed the spawn-model branch 2 times, most recently from 08cf2ef to f3f7e8b Compare May 29, 2018 16:33

kev-the-dev mentioned this pull request Jun 4, 2018

add option to input xml from stdin to spawn_model #603

Closed

kev-the-dev force-pushed the spawn-model branch from 2c45224 to 8061098 Compare June 12, 2018 23:10

Kevin Allen added 4 commits June 18, 2018 10:53

GAZEBO_ROS: refactor spawn_model script

46ac000

* parse arguments with argparse * remove deprecated/unused -gazebo and -trimesh options

GAZEBO_MSGS: correct documentation on SetModelConfiguration.srv

7f856f0

SPAWN MODEL: add stdin as source option

7d46ca3

SPAWN MODEL: more robust -package_to_model implementation (issue ros-…

784ec58

…simulation#449)

kev-the-dev force-pushed the spawn-model branch from 8061098 to 784ec58 Compare June 18, 2018 17:55

j-rivero self-requested a review July 4, 2018 11:32

j-rivero approved these changes Jul 4, 2018

View reviewed changes

Fix various xacro/xml issues with tests

57814ce

kev-the-dev merged commit 337bd13 into ros-simulation:melodic-devel Jul 6, 2018

This was referenced Jul 6, 2018

spawn_model logging issue #597

Closed

spawn_model package_to_model feature is brittle #449

Closed

Back/Forward ports tracker #764

Open

cohen39 pushed a commit to cohen39/gazebo_ros_pkgs that referenced this pull request Nov 15, 2021

Merge pull request ros-simulation#730 from ironmig/spawn-model

2fa34fe

Refactor spawn_model script

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Refactor spawn_model script #730

Refactor spawn_model script #730

kev-the-dev commented May 25, 2018 •

edited

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kev-the-dev commented Jul 6, 2018

Refactor spawn_model script #730

Refactor spawn_model script #730

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kev-the-dev commented Jul 6, 2018

kev-the-dev commented May 25, 2018 •

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