API review

Proposer: John Hsu

Present at review:

• List reviewers

Question / concerns / comments

• proposal, spawning process similar to controllers, starting with yaml file:

  gazebo_models:                              # everything here is namespaced under "gazebo_models"
      pr2:                                    # model name used inside gazebo
          specification: robot_description    # potentially contains:
                                              #    1. a verbatim string with URDF or Gazebo Model XML or
                                              #    2. a parameter name that refers to a parameter containing (1.)
                                              # the spawner will differentiate automatically
          namespace: /                        # namespace for gazebo_ros_plugins related to this model
          initial_pose:                       # initial pose for the model
              x: 0
              y: 0
              z: 0
              rx: 0
              ry: 0
              rz: 0
              joint_name: r_forearm_link      # name of the joint to set initial position
                  position:  1.57             # initial joint position
              joint_name: head_pan_link       # name of the joint to set initial position
                  position:  0.78             # initial joint position
  
      # another example
      table:
          specification: table_description
          namespace: /table
          initial_pose:
              x: 1
              y: 0
              z: 0
              rx: 0
              ry: 0
              rz: 0

• commandline options

  rosrun gazebo_plugins gazebo_model spawn pr2
  rosrun gazebo_plugins gazebo_model spawn table

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved