bool WorldRosItem::spawnModel(gazebo_msgs::SpawnModel::Request &req,
                              gazebo_msgs::SpawnModel::Response &res)
{
  std::string model_name = req.model_name;
  std::string model_xml = req.model_xml;

  cnoid::Vector3 trans;
  cnoid::Quat R;
  trans(0) = req.initial_pose.position.x;
  trans(1) = req.initial_pose.position.y;
  trans(2) = req.initial_pose.position.z;
  R.w() = req.initial_pose.orientation.w;
  R.x() = req.initial_pose.orientation.x;
  R.y() = req.initial_pose.orientation.y;
  R.z() = req.initial_pose.orientation.z;

  BodyItemPtr body = new BodyItem();
  body->setName(req.model_name);
  
  const char *fname = tmpnam(NULL);
  std::ofstream ofs(fname);
  ofs << model_xml << std::endl;
  ofs.close();
  body->loadModelFile(fname);
  remove(fname);
  
  body->body()->rootLink()->setTranslation(trans);
  body->body()->rootLink()->setRotation(R.matrix());
  world->addChildItem(body);

  BodyRosItemPtr bodyros = new BodyRosItem();
  bodyros->setName(req.model_name + "_ROS");
  body->addChildItem(bodyros);
  
  ItemTreeView::instance()->checkItem(body);
  ItemTreeView::instance()->checkItem(bodyros);
  
  return true;
}