/*
Callback method when a new model is added on Gazebo.
Used to detect the end of asynchronous model loading.
*/
void ArdupilotSitlGazeboPlugin::on_gazebo_modelInfo(ConstModelPtr &_msg)
{
// This method is executed independently from the main loop thread.
// Beware of access to shared variables memory. Use mutexes if required.
ROS_DEBUG( PLUGIN_LOG_PREPEND "on_gazebo_modelInfo, name %s", _msg->name().c_str());
if (!_msg->name().compare(PARACHUTE_MODEL_NAME)) {
// Gazebo has finally finished loading the parachute model.
// It's about time, our UAV was falling to the ground at high speed !!!
on_parachute_model_loaded();
}
}
void WorldController::OnModel(ConstModelPtr &msg) {
auto name = msg->name();
int id;
{
boost::mutex::scoped_lock lock(insertMutex_);
if (insertMap_.count(name) <= 0) {
std::cout << "Insertion of model `" << name << "` was not requested here." << std::endl;
return;
}
id = insertMap_[name];
insertMap_.erase(name);
}
// Respond with the inserted model
gz::msgs::Response resp;
resp.set_request("insert_sdf");
resp.set_response("success");
resp.set_id(id);
msgs::ModelInserted inserted;
inserted.mutable_model()->CopyFrom(*msg);
gz::msgs::Set(inserted.mutable_time(), world_->GetSimTime());
inserted.SerializeToString(resp.mutable_serialized_data());
responsePub_->Publish(resp);
std::cout << "Model `" << name << "` inserted, world now contains " <<
world_->GetModelCount() << " models." << std::endl;
}
