training_helper.py 文件源码

def spawn_model(model_name):
    """ Spawns a model in front of the RGBD camera.

        Args: None

        Returns: None
    """
    initial_pose = Pose()
    initial_pose.position.x = 0
    initial_pose.position.y = 1
    initial_pose.position.z = 1

    # Spawn the new model #
    model_path = rospkg.RosPack().get_path('sensor_stick')+'/models/'
    model_xml = ''

    with open (model_path + model_name + '/model.sdf', 'r') as xml_file:
        model_xml = xml_file.read().replace('\n', '')

    spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
    spawn_model_prox('training_model', model_xml, '', initial_pose, 'world')