Is it possible to spawn or update a model with a new link and plugin?
I've been using spawn_entity.py in gazebo_ros for ROS2 to try to spawn a new camera. I really want this camera rigidly attached to a model that's already spawned in gazebo. I thought I could do this by spawning a new model with a joint from an existing base link but then I realized that doesn't make sense. Is there any way to spawn just a new link with a joint referenced from an existing model/entity?
I'm beginning to think that really the only way to do this is to remove the existing model and respawn it from a xacro that has the model updates I want. If that's true, then is there anything I should look out for to make sure there are no conflicts from the previous model? For example, this model will be receiving a twist message to keep it moving.
I'm wondering whether it would be better to post this on Gazebo Answers.
It's clear there is a ROS side to this, but whether the ROS integration plugin(s) are capable of this is largely determined by the support in Gazebo for this (ie: without Gazebo supporting it, the plugins couldn't do it either).
At the very least, you'll have a better chance of getting eyes on your question from the Gazebo developer community.
You make a good point. I'll repost there.
Did you find any solution for your problem? I'm trying to do exactly the same, but haven't found a solution yet. (I didn't find your repost on Gazebo Answers).
Sorry. I didn't post in Gazebo answers yet. Feel free to do so. I basically decided to add it to the Xacro and use parameters to move it around for each time I spawned the entire model.