How to get SDF of the running World (even after add new objects to the world/scene)

asked 2015-12-30 15:43:28 -0500


I would like to know if there is a service or topic on Gazebo that I could use to get the SDF from the running world.

I don't want to read the SDF file passed as parameter to gazebo, I need the SDF of the running world.

Looking on ROS Answers, I only found conversion from Protobuf to SDF, URDF to SDF, but, is there a way to get the SDF without need to convert it from Protobuf?

Thanks in advance.

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