removing models leaves behind some visuals

[osrf-migration]

Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

---

This can be reproduced by deleting a model, then re-spawning the same model with the same name, an error appears complaining about existing visual nodes in ogre. For example, while running the haptix world sim api tutorial, by calling the following functions in sequence:

% Define a new model.  Here, we're taking the cricket_ball model from:
%  #!/osrf/gazebo_models/src/default/cricket_ball/model.sdf
% and tweaking it slightly (just changing the color from Red to Green).
sdf = '<sdf version="1.5"> <model name="cricket_ball"> <link name="link"> <pose>0 0 0.0375 0 0 0</pose> <inertial> <mass>0.1467</mass> <inertia> <ixx>8.251875e-05</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>8.251875e-05</iyy> <iyz>0</iyz> <izz>8.251875e-05</izz> </inertia> </inertial> <collision name="collision"> <geometry> <sphere> <radius>0.0375</radius> </sphere> </geometry> </collision> <visual name="visual"> <geometry> <sphere> <radius>0.0375</radius> </sphere> </geometry> <material> <script> <uri>file://media/materials/scripts/gazebo.material</uri> <name>Gazebo/Green</name> </script> </material> </visual> </link> </model> </sdf>';
% Add the new model to the world, at the world origin, 5m off the ground, with
% gravity enabled.  Then it will drop onto the table.
hxs_add_model(sdf, 'green_cricket_ball', [0; 0; 5], [0; 0; 0], 1);
pause(2);
% Remove the model
hxs_remove_model('green_cricket_ball');
pause(2);
% Add back the same model
hxs_add_model(sdf, 'green_cricket_ball', [0; 0; 5], [0; 0; 0], 1);

terminate called after throwing an instance of 'Ogre::ItemIdentityException'

  what():  OGRE EXCEPTION(4:ItemIdentityException): An object of type 'Entity' with name 'green_cricket_ball::link_COM_VISUAL____SPHERE__' already exists. in SceneManager::createMovableObject at /tmp/buildd/ogre3d-1.9-1.9.0~osrf2/OgreMain/src/OgreSceneManager.cpp (line 6853)

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

---

pull request #1859

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

---

Maybe related question:

http://answers.gazebosim.org/question/9493/delete-and-reload-a-model/

We probably should be making sure all topics are deleted as well.

[osrf-migration]

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

---

Issue #1747 was marked as a duplicate of this issue.

[osrf-migration]

Original comment by Grégoire Passault (Bitbucket: Gregwar).

---

Indeed, I duplicately reported the same problem
What is the status of this?

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

It's still under development. Hopefully next week.

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

---

there's a temporary ABI-compatible fix for gazebo6 in pull request #1886. But a more thorough fix by @nkoenig for default branch is also underway.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

---

related issue: #1789

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

---

I believe this was fixed by pull request #1886, which added a regression test.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

---

• changed state from "new" to "resolved"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

• changed state from "resolved" to "closed"