gazebo_plugins_interface.py

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#! /usr/bin/env python
# Wrappers around the services provided by gazebo_ros_factory plugin

import roslib; roslib.load_manifest('gazebo_plugins')

import sys

import rospy
from gazebo_plugins.msg import GazeboModel
from gazebo_plugins.srv import SpawnModel
from gazebo_plugins.srv import DeleteModel
from geometry_msgs.msg import Pose, Point, Quaternion

def load_model(model_msg):
    print "waiting for service spawn_model"
    rospy.wait_for_service('spawn_model')
    try:
        spawn_model= rospy.ServiceProxy('spawn_model', SpawnModel)
        resp1 = spawn_model(model_msg)
        return resp1.success
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e