Hi,

Ideally I should use the sensors of the robot to gather information around the world, but for now (and also to compare the performance from some baseline) I want to get the information from gazebo itself.

Is there any service, etc, using which I can get the geometry of objects in the gazebo world.

service /gazebo/getworldproperties gives me the names and then I can get their position and orientation etc using /gazebo/getmodelstate, but how could I get the geometry associated with them?

One way is to have them stored separately somewhere like db or parsing the .model file in code. Can /gazebo/getmodelproperties be used for the same? How can I get the dimension using this? For now bounding box of the object will also do.

Any comments/pointers is greatly appreciated