[ros2] - /gazebo/set_model_state service isn't showing up

[mkhansenbot]

I'm trying to call the set_model_state service, but I don't see it listed when I do a service list, and when I try to call it I get waiting for service to become available...

mkhansen@mkhansen-desk:~$ ros2 service list | grep gazebo
/gazebo/describe_parameters
/gazebo/get_parameter_types
/gazebo/get_parameters
/gazebo/list_parameters
/gazebo/set_parameters
/gazebo/set_parameters_atomically

Is this supposed to be available in ROS2? I'm running gazebo with this command:

gazebo --verbose -s libgazebo_ros_init.so /home/mkhansen/ros2_dev/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_ros2_demo.world

[mkhansenbot]

I should have mentioned:
Ubuntu 18.04
Gazebo 9

[chapulina]

No, that service hasn't been ported to ROS2 yet, see #779. If that's blocking you, I can try to make some time to port it, it shouldn't be too hard.

[mkhansenbot]

Actually I can live without that service for now, but just realized that also the /gazebo/model_states topic is also missing. That's a higher priority IMO. We're trying to use gazebo for testing and need to get the model state to know if the robot has arrived at the goal pose.

[chapulina]

I've assigned the model states services and topics to myself, I'll tackle it asap.

[mkhansenbot]

Thanks @chapulina

[mhpanah]

I've assigned the model states services and topics to myself, I'll tackle it asap.

@chapulina Has set_model_state service ported yet?

[chapulina]

It's currently in a pull request: #839

Given the time it's been up for review, I'm inclined to merge it if I get a positive review from someone in the community.

[nzlz]

We have been using a merged gazebo_ros_pkgs with ros2_time_cmds, ros2_state and ros2_properties (my PR) for the last 20 days, intensively on a daily basis. Mainly for the upcoming version of gym_gazebo. No errors so far, I'd say ros2_state is ready to merge and others too.

[chapulina]

Thanks for the feedback, @nzlz ! I'll rebase all the PRs and run CI one more time tomorrow. If CI comes back clean, I'll merge them and prepare a new release.

[chapulina]

#839 merged

[i1Cps]

Hello, Im running ros2 on Foxy, and the service set_model_state is still not showing. I'm seeing exactly what the OP intially posted. Has the service been ported yet?

OS: Ubuntu 20.04
Ros2: Foxy
Gazebo: version 11.11.0

[i1Cps]

Hello, Im running ros2 on Foxy, and the service set_model_state is still not showing. I'm seeing exactly what the OP intially posted. Has the service been ported yet?

OS: Ubuntu 20.04 Ros2: Foxy Gazebo: version 11.11.0

Sorry for the confusion but the reason the service wasn't showing up for me was because I hadn't added the plugin to the world file. Once I added the plugin for the service at the top of the world like this:
<plugin name='set_entity_state_plugin' filename='libset_entity_state.so'>
<robot_name>my_robot</robot_name>
</plugin>

The service showed up after the ros2 service list command

[FranekStark]

@i1Cps do you had to change anything else to make it run? I have added this snippet just below my <world name='orl'> tag. However, the service is still not showing up.

[i1Cps]

Hello, I have this, at the start of my world file:

<world name='default'> 
    <plugin name='set_entity_state_plugin' filename='libset_entity_state.so'>
      <robot_name>my_robot</robot_name>
    </plugin>
    
    <plugin name='gazebo_ros_state' filename='libgazebo_ros_state.so'>
      <ros>
        <argument>model_states:=model_states_demo</argument>
      </ros>
      <update_rate>1.0</update_rate>
    </plugin>

@i1Cps do you had to change anything else to make it run? I have added this snippet just below my <world name='orl'> tag. However, the service is still not showing up.