Set visual names

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Jul 1, 2021 · 9b2cea1 · 9b2cea1
1 parent cdb85dc
commit 9b2cea1
Showing 1 changed file with 30 additions and 3 deletions.
diff --git a/src/plugins/transport_scene_manager/TransportSceneManager.cc b/src/plugins/transport_scene_manager/TransportSceneManager.cc
@@ -456,7 +456,16 @@ void TransportSceneManagerPrivate::LoadScene(const msgs::Scene &_msg)
 rendering::VisualPtr TransportSceneManagerPrivate::LoadModel(
  const msgs::Model &_msg)
 {
- rendering::VisualPtr modelVis = this->scene->CreateVisual();
+ rendering::VisualPtr modelVis;
+ if (!_msg.name().empty() && !this->scene->HasVisualName(_msg.name()))
+ {
+ modelVis = this->scene->CreateVisual(_msg.name());
+ }
+ else
+ {
+ modelVis = this->scene->CreateVisual();
+ }
+
  if (_msg.has_pose())
  modelVis->SetLocalPose(msgs::Convert(_msg.pose()));
  this->visuals[_msg.id()] = modelVis;
@@ -489,7 +498,16 @@ rendering::VisualPtr TransportSceneManagerPrivate::LoadModel(
 rendering::VisualPtr TransportSceneManagerPrivate::LoadLink(
  const msgs::Link &_msg)
 {
- rendering::VisualPtr linkVis = this->scene->CreateVisual();
+ rendering::VisualPtr linkVis;
+ if (!_msg.name().empty() && !this->scene->HasVisualName(_msg.name()))
+ {
+ linkVis = this->scene->CreateVisual(_msg.name());
+ }
+ else
+ {
+ linkVis = this->scene->CreateVisual();
+ }
+
  if (_msg.has_pose())
  linkVis->SetLocalPose(msgs::Convert(_msg.pose()));
  this->visuals[_msg.id()] = linkVis;
@@ -524,7 +542,16 @@ rendering::VisualPtr TransportSceneManagerPrivate::LoadVisual(
  if (!_msg.has_geometry())
  return rendering::VisualPtr();
 
- rendering::VisualPtr visualVis = this->scene->CreateVisual();
+ rendering::VisualPtr visualVis;
+ if (!_msg.name().empty() && !this->scene->HasVisualName(_msg.name()))
+ {
+ visualVis = this->scene->CreateVisual(_msg.name());
+ }
+ else
+ {
+ visualVis = this->scene->CreateVisual();
+ }
+
  this->visuals[_msg.id()] = visualVis;
 
  math::Vector3d scale = math::Vector3d::One;