calling Projector::Load method when spawning robot from urdf

[osrf-migration]

Original report (archived issue) by Yuki Furuta (Bitbucket: furushchev).

The original report had attachments: Screenshot from 2015-12-10 15:27:14.png

---

Hi, I am new to gazebo, and I have a question.

I'm using the PR2 that has projector at the head.
Projector itself seems to have parameters that are configurable:
https://github.com/osrf/gazebo/blob/2de40d75074bb573bddc8f902f2b78c543237b2d/gazebo/rendering/Projector.cc#L109:126

When spawning a robot that has a projector from urdf, children tags of seems to be ignored.
How can we set the parameter when
spawning the robot from urdf?

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

• changed title from "calling Projector::Load method from urdf" to "calling Projector::Load method when spawning robot from urdf"

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

related issues:

• projected pattern from projector in gazebo hydro appears backwards PR2/pr2_common#227
• https://bitbucket.org/osrf/sdformat/pull-requests/96/add-rpyxyz-parser-for-projector-pose/activity

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

• set attachment to "Screenshot from 2015-12-10 15:27:14.png"

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

What version of gazebo are you using, and how are you running gazebo?

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

I use gazebo 2.2.3 with ROS Indigo, but I checked that this problem is also reproduced on 1.9.6 (with ROS hydro) and 6 (latest).

(for using pr2 with gazebo 6, I needed to fix a bit of compilation flags. see PR2/pr2_simulator#116 )

The picture attached is another launch file, but in order to reproduce this problem, just roslaunch-ing file installed by apt-get:

roslaunch pr2_gazebo pr2_empty_world.launch

This run gazebo, and insert pr2 into world by using spawn_model from urdf.

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping

[osrf-migration]

Original comment by Yuki Furuta (Bitbucket: furushchev).

---

ping