Allow attachment of lights to links

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Original report (archived issue) by Nate Koenig (Bitbucket: Nathan Koenig).

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See this question.

This will require a change to SDF as well.

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Original comment by Jonathan Bohren (Bitbucket: jbohren).

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+1

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Original comment by Peter Milani (Bitbucket: PeterQFR).

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+1
would also be good if the type of lights could be expanded to include:
laser point, or more preferably,
a laser line type light, and
a textured light.

This use case is around improving stereo vision implementations.

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

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• set assignee_account_id to "557058:6ff86fcb-b7ab-44a5-b8a6-f6d9cae8b6e8"
• set assignee to "chapulina (Bitbucket: chapulina, GitHub: chapulina)"

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

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First step: pull request #1920 adds physics::Light which inherits from physics::Entity.

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Original comment by Andreas Bihlmaier (Bitbucket: andreasBihlmaier).

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@chapulina: Thank you VERY much for working on this - unfortunately I never got around to it.

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

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Once this is integrated, it would be great to support adding lights to models through the model editor.

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

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• set version to "any"

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

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• changed version from "any" to "all"

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

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pull request #2647 adds a model plugin that provides this functionality.

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Original comment by Andreas Bihlmaier (Bitbucket: andreasBihlmaier).

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+1

A very valuable feature for some of my Gazebo use cases. Thanks!
I'll try to make some time to test the pull request.

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

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Pull request #2807 adds the native functionality (lights as children of links on SDF instead of using a plugin)

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

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pull request #2807 has been merged.

Remaining tasks as identified in that PR are:

• Add Light field to link.proto
• Add worldPoseDirty to physics::Light and remove infinite pose checks
• Use Light::GetRelativePose instead of Light::GetWorldPose in a few places
• Add a Link::lights variable
• Add id field to light.proto and remove empty id checks
• Remove AttachLightPlugin
• Remove hack that publishes light pose message from physics to rendering
• In rendering/Scene, update ProcessLinkMsg to process lights in link msgs and attach to parent link visual
• In physics/Link, add LoadLight function, and update FillMsg to add light to msg.

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

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pull request #2871

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

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• Edited issue description* changed state from "new" to "resolved"

pull request #2807 -> gazebo7, pull request #2871 -> gazebo9