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I'm creating a Python app that will test multiple sensors in multiple scenarios. Each scenario uses a different .world file. Right now, to open a new scene with a new sensor, I have to close Gazebo and open a new one.

I don't know if this is relevant - I just started with ROS and Gazebo. I use Ros noetic. I open Gazebo through a .launch file in catkin_ws by calling a cmd from Python using subprocess. It's some legacy code that I have to deal with, but I'm planning to fix this too, if possible.

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Although Gazebo’s messaging layer includes intended support for saving and loading worlds through the /server_control service, this feature is not currently implemented in the Gazebo Sim itself.

You can open an issue on GitHub to discuss this with the contributors or (even better) consider contributing a pull request to help implement the feature.

Unfortunately, at current state, restarting Gazebo is your only option.

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    $\begingroup$ Thank you. Now I am at least certain that this is impossible. And I think I can try to contribute. $\endgroup$ Commented Nov 11 at 7:59

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