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Hi!
I wrote a script with a for loop, where inside I navigate a robot and save the camera output/trajectories.
At the end of the loop I would like to reset the poses of the model, but unfortunately trying
self.reset = rospy.Publisher("gazebo/reset_models", Empty, queue_size=10)
self.reset.publish(Empty())
does not work. Do you have an idea on what might work there? Thanks!
Isn't /gazebo/reset_models a service, not a topic?
I am sorry, could you please help me by telling what should I type into my for loop in order to get the model poses reset?
I don't know about "get model poses reset", but for invoking the /gazebo/reset_simulation service, the following should work:
import rospy
from std_srvs.srv import Empty
# maybe do some 'wait for service' here
reset_simulation = rospy.ServiceProxy('/gazebo/reset_simulation', Empty)
# invoke
reset_simulation()
See also the Writing a Simple Service and Client (Python) tutorial, specifically the Writing the Client Node section.
You are right, thanks for pointing this out :)
Unfortunately, I still didn't manage to reset the world inside my script. I tried to do the following:
self.reset = rospy.Service('gazebo/reset_simulation', Empty);
self.reset(Empty)
However, rosservice call /gazebo/reset_world "{}" works fine.
Thanks, but unfortunately, it does not work. I have tried self.reset = rospy.Service('reset', "/gazebo/reset_simulation", Empty), but I get AttributeError: 'str' object has no attribute '_request_class'
I can find /gazebo/reset_simulation in the rosservice list, but when I go to the folder gazebo_msgs.srv, there is no reset_simulation.srv :( any idea on what can I do to import this service?
Moreover, I could not find any file "reset_simulation" on my computer.
I am sorry, could you please help me by telling what should I type into my for loop in order to get the model poses reset?
Hello!
I've created this very short Video that shows exactly how to do this. Maybe by watching how to do it step by step it's easier to understand. Hope it helps!
EDIT: In the Video, I just show an example of how to implement a solution to the question. It might be helpful for someone to visualize step by step how it can be done. Code used:
#! /usr/bin/env python
import rospy
from std_srvs.srv import Empty
rospy.init_node('reset_world')
rospy.wait_for_service('/gazebo/reset_world')
reset_world = rospy.ServiceProxy('/gazebo/reset_world', Empty)
reset_world()
Although I have already done that, I think it might help other people with the same problem. Thanks for your contribution, Alberto! :)
Asked: 2017-07-20 09:51:10 -0500
Seen: 4,521 times
Last updated: Nov 14 '21
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