renaudviry / human_model Goto Github PK

Hi there,
I am interested in adding a human in gazebo and so I am using your code. I cloned ur git repo into my workspace and I added a function like :
void Husky::addHuman(){
ROS_INFO("::executing add human ()");
// make the service call to spawn model
ros::service::waitForService("gazebo/spawn_urdf_model");
gazebo_msgs::SpawnModel spawnModel;
std::string urdf_filename = "human.urdf";
std::ifstream file("/home/toshiba/catkin_ws/src/gazebo_husky/human_model/urdf/human.urdf");
ROS_DEBUG("loading file: %s , *********************************",urdf_filename.c_str()); // to check if URDF file was read correctly.
std::string line;

while(!file.eof()) // Parse the contents of the given urdf in a string
{
  std::getline(file,line);
  model.request.model_xml+=line;
}
file.close();

geometry_msgs::Pose pose;
pose.position.x = pose.position.y = 1; pose.position.z = 0;
pose.orientation.w = 1.0; pose.orientation.x = pose.orientation.y = pose.orientation.z = 0;
model.request.initial_pose = pose;

model.request.model_name="human_model";
model.request.reference_frame="world";
gazebo_spawn_clt_.call(model); //Call the service

ROS_INFO(" Finished loading human -------------------------------------");

}

Then I simply call this function in my main.cpp file but I do not see any human in gazebo. Am I missing something in my code/CmakeLists.txt/package.xml/launch file ?
Please advise.