simulation_interfaces/srv/GetSpawnables.srv at main · RobotecAI/simulation_interfaces · GitHub

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# Return a list of resources which are valid as SpawnEntity uri fields (e.g. visible to or registered in simulator).
# This interface is an optional extension and might not be implemented by your simulator, check the result_code.
# Support for this interface is indicated through the SPAWNABLES value in GetSimulationFeatures.

string[] sources                                    # Optional field for additional sources (local or remote) to search.
                                                    # By default, each simulator has visibility of spawnables through
                                                    # some mechanisms, e.g. a set of paths, registered assets etc.
                                                    # Since the simulator cannot possibly look everywhere,
                                                    # this field allows the user to specify additional sources.
                                                    # Unrecognized values are listed as such in the result.error_message,
                                                    # but do not hinder success of the response.
                                                    # Sources may include subcategories and be simulator-specific.

---

Result result
Spawnable[] spawnables                              # Spawnable objects with URI and additional information.