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gazebo_ros: Fix spawn_entity.py model removal binding #1475

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gazebo_ros: Fix spawn_entity.py model removal binding #1475

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42d8d2b
Resolved node shutdown issue preventing removal of model from simulat…
agoeckner Apr 11, 2023
4bac2ca
Resolved missing self.args.gazebo_namespace
agoeckner Jul 6, 2023
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34 changes: 15 additions & 19 deletions gazebo_ros/scripts/spawn_entity.py
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Original file line number Diff line number Diff line change
Expand Up @@ -256,11 +256,20 @@ def entity_xml_cb(msg):
if self.args.bond:
self.get_logger().info(
'Waiting for shutdown to delete entity [{}]'.format(self.args.entity))

self.clientDeletion = self.create_client(
DeleteEntity, '%s/delete_entity' % self.args.gazebo_namespace)
if not self.clientDeletion.wait_for_service(timeout_sec=self.args.timeout):
self.get_logger().error(
'Service %s/delete_entity unavailable. Was Gazebo started with GazeboRosFactory?' %
(self.args.gazebo_namespace))

try:
rclpy.spin(self)
except KeyboardInterrupt:
self.get_logger().info('Ctrl-C detected')
self._delete_entity()
finally:
self._delete_entity()

return 0

Expand Down Expand Up @@ -296,24 +305,11 @@ def _spawn_entity(self, entity_xml, initial_pose, timeout=5.0):
def _delete_entity(self):
# Delete entity from gazebo on shutdown if bond flag enabled
self.get_logger().info('Deleting entity [{}]'.format(self.args.entity))
client = self.create_client(
DeleteEntity, '%s/delete_entity' % self.args.gazebo_namespace)
if client.wait_for_service(timeout_sec=self.args.timeout):
req = DeleteEntity.Request()
req.name = self.args.entity
self.get_logger().info(
'Calling service %s/delete_entity' % self.args.gazebo_namespace)
srv_call = client.call_async(req)
while rclpy.ok():
if srv_call.done():
self.get_logger().info(
'Deleting status: %s' % srv_call.result().status_message)
break
rclpy.spin_once(self)
else:
self.get_logger().error(
'Service %s/delete_entity unavailable. ' +
'Was Gazebo started with GazeboRosFactory?')
req = DeleteEntity.Request()
req.name = self.args.entity
self.get_logger().info(
'Calling service %s/delete_entity' % self.args.gazebo_namespace)
self.clientDeletion.call(req)

# def _set_model_configuration(self, joint_names, joint_positions):
# self.get_logger().info(
Expand Down