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Hello,
Is it possible to change the name of a Solid by modifying the name field of the robot?
I have the following robot PROTO:
#VRML_SIM R2023b utf8
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# This is a proto file for Webots for the rbrobout
# template language: javascript
# Extracted from: /home/joel/Documentos/GitHub/Robotnik_practicas/Robotnik_ws/src/robot_description/robots/rbrobout/rbrobout.urdf
PROTO rbrobout [
field SFVec3f translation 0 0 -0.49
field SFRotation rotation 0 0 1 0
field SFString name "rbrobout" # Is `Robot.name`.
field SFString controller "" # Is `Robot.controller`.
field MFString controllerArgs [] # Is `Robot.controllerArgs`.
field SFString customData "" # Is `Robot.customData`.
field SFBool supervisor FALSE # Is `Robot.supervisor`.
field SFBool synchronization TRUE # Is `Robot.synchronization`.
field SFBool selfCollision FALSE # Is `Robot.selfCollision`.
field MFNode toolSlot [] # Extend the robot with new nodes at the end of the arm.
]
{
Robot {
translation IS translation
controller IS controller
physics Physics {
}
children [
Shape {
appearance PBRAppearance {
baseColor 0.5 0.5 0.5
roughness 1
metalness 0
}
geometry Box {
size 0.001 0.001 0.001
}
}
Solid {........
And, in that PROTO, i have this field:
Solid {
translation -0.8 -0.3666 -0.06
rotation 0 0 -1 2.356194
children [
USE microscan3_visual
Solid {
translation 0 0 0.11
children [
Lidar {
name "robot_rear_laser_sensor"
horizontalResolution 700
fieldOfView 4.7
numberOfLayers 1
minRange 0.05
maxRange 64
noise 0.000156
resolution 0.00575
}
]
name %<= fields.name.value + "/rear_laser_link" >%
}
]
name %<= fields.name.value + "/rear_laser_base_link" >%
boundingObject USE microscan3
physics Physics {
density -1
mass 1.15
centerOfMass [
0 0 0.075
]
inertiaMatrix [
0.003337012 0.003358383 0.002382896
0 0 0
]
}
}
]
Then, I'm trying to spawn the PROTO using this service call in a Python launcher:
spawn_robot_service_call = ExecuteProcess(
cmd=[
'ros2', 'service', 'call',
'/Ros2Supervisor/spawn_node_from_string',
'webots_ros2_msgs/srv/SpawnNodeFromString',
[
TextSubstitution(text='{data: "'),
robot, TextSubstitution(text=' { name \\"'),
namespace, TextSubstitution(text='\\" translation '),
x_pos, TextSubstitution(text=' '),
y_pos, TextSubstitution(text=' '),
z_pos, TextSubstitution(text=' }"}')
]
],
output='screen'
)
ld.add_action(spawn_robot_service_call)
However, Webots logs this error:
:576:20: error: Expected string literal, found 'rbrobout/rear_laser_link'.
I'm not sure if I wrote the name assignment incorrectly, or if it's just not possible to dynamically assign unique Solid names using string concatenation like this.
I need to do this because I want to spawn multiple instances of the same PROTO robot in the simulation, each with a different name.
The TFs are being published by the WebotsController with 'set_robot_state_publisher':
rbrobout_driver = WebotsController(
robot_name='rbrobout',
namespace='rbrobout',
parameters=[
{'robot_description': robot_controller_path,
'use_sim_time': use_sim_time,
'set_robot_state_publisher': True,
'update_rate': 100},
ros2_control_params
],
respawn=True
)
ld.add_action(rbrobout_driver)
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