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