Reset model poses in a python script

asked 2017-07-20 09:51:10 -0600

kchledowski
52 ●8 ●9 ●14

updated 2021-11-14 09:45:03 -0600

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

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!

edit retag flag offensive close merge delete

add a comment

2 Answers

Sort by » oldest newest most voted

answered 2017-07-21 01:27:01 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2017-07-24 11:02:18 -0600

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.

edit flag offensive delete link

Comments

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.

kchledowski ( 2017-07-21 05:09:07 -0600 )edit

I think you'll need to add the / prefix, otherwise you're specifying a relative name.

gvdhoorn ( 2017-07-21 05:24:04 -0600 )edit

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'

kchledowski ( 2017-07-21 05:42:40 -0600 )edit

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?

kchledowski ( 2017-07-21 06:16:46 -0600 )edit

Moreover, I could not find any file "reset_simulation" on my computer.

kchledowski ( 2017-07-21 06:29:46 -0600 )edit

I'm not sure what you are trying to do. rospy.Service('reset', "/gazebo/reset_simulation", Empty) that is not how you should initialise any service object, neither server nor client.

gvdhoorn ( 2017-07-21 06:44:20 -0600 )edit

I could not find any file "reset_simulation" on my computer.

Where are you expecting to find it? The service is of type Empty apparently, so you'd have to look for Empty.srv, which is in std_srvs.

gvdhoorn ( 2017-07-21 06:45:22 -0600 )edit

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?

kchledowski ( 2017-07-21 06:46:41 -0600 )edit

see more comments

answered 2017-07-24 06:19:10 -0600

Alberto E.
356 ●2 ●7

updated 2017-07-24 11:13:48 -0600

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()

edit flag offensive delete link

Comments

Although I have already done that, I think it might help other people with the same problem. Thanks for your contribution, Alberto! :)

kchledowski ( 2017-07-24 06:27:19 -0600 )edit

Whenever referring to a video, please include a short description of what it shows. In case the video ever disappears, your answer basically becomes useless.

gvdhoorn ( 2017-07-24 06:40:34 -0600 )edit

Well, basically I've implemented a solution to the question

so that is basically what I already had in my answer, right?

gvdhoorn ( 2017-07-24 11:01:53 -0600 )edit

Works for me in Noetic.

amjack ( 2022-10-07 04:37:28 -0600 )edit

add a comment

Reset model poses in a python script

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

Reset model poses in a python script edit

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

Reset model poses in a python script