LoadWorld

This is a ROS service definition.

Source

# Load a simulation world from a file or resource.
# This means clearing the current scene (removing all entities), loading the new world and setting the simulation to the stopped state.
# Support for this interface is indicated through the WORLD_LOADING value in GetSimulatorFeatures.
# resource_string field support is indicated through the WORLD_RESOURCE_STRING value in GetSimulatorFeatures.
# Currently loaded worlds will be unloaded before attempting to load a new one.
# Any previously spawned entities will be removed. Once a world is loaded, simulation will be left in a Stopped state.

string uri                                  # Resource such as SDF, USD, MJCF, or other simulator-native format world file.

string resource_string                      # Simulation world passed as a string. This field is used if the uri field is empty.

bool fail_on_unsupported_element            # Fail on unsupported elements (such as SDFormat sub-tags). By default, such elements are ignored.


bool ignore_missing_or_unsupported_assets   # Ignore missing or unsupported assets. By default, missing or unsupported assets result in failure.

---

uint8 UNSUPPORTED_FORMAT = 101              # Format for uri or resource string is unsupported.
uint8 NO_RESOURCE = 102                     # Both uri and resource string are empty.
uint8 RESOURCE_PARSE_ERROR = 103            # Resource file or string failed to parse.
uint8 MISSING_ASSETS = 104                  # At least one of resource assets (such as meshes) was not found.
uint8 UNSUPPORTED_ASSETS = 105              # At least one of resource assets (such as meshes) is not supported.
uint8 UNSUPPORTED_ELEMENTS = 106            # At least one of world definition elements such as format tags is unsupported.


Result result                               # Standard result message

WorldResource world                         # Information about the loaded world. Only valid if result is RESULT_OK.