review comment

Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>

Author: michalpelka

CMakeLists.txt

@@ -33,6 +33,7 @@ set(msg_files
 )
 
 set(srv_files
+    "srv/BatchSpawnEntities.srv"
     "srv/DeleteEntity.srv"
     "srv/GetAvailableWorlds.srv"
     "srv/GetCurrentWorld.srv"

msg/SimulatorFeatures.msg

@@ -38,7 +38,7 @@ uint8 WORLD_UNLOADING           = 43      # Supports UnloadWorld interface
 uint8 WORLD_INFO_GETTING        = 44      # Supports GetCurrentWorld interface
 uint8 AVAILABLE_WORLDS          = 45      # Supports GetAvailableWorlds interface
 
-uint8 SPAWNING_ARRAY            = 50      # Support array spawning (SpawnEntities)
+uint8 SPAWNING_BATCH            = 50      # Support batch spawning (SpawnEntities)
 
 uint16[] features                         # A list of simulation features as specified by the list above.
 

srv/SpawnEntities.srv srv/BatchSpawnEntities.srvsrv/SpawnEntities.srv renamed to srv/BatchSpawnEntities.srv

@@ -1,46 +1,42 @@
-# Spawn entities (a robot, other object) by name or URI
-# Support for this interface is indicated through the SPAWNING_ARRAY value in GetSimulationFeatures.
+# Spawn entities (a robot, other object) by name or URI in a batch.
+# Support for this interface is indicated through the SPAWNING_BATCH value in GetSimulationFeatures.
 
 string names[]                          # A list of names given to every entity
                                         # If string is empty, a name field in the uri file or resource_string will be used,
                                         # if supported and not empty (e.g. "name" field in SDFormat, URDF).
                                         # If the name is still empty or not unique (as determined by the simulator),
                                         # the service returns a generated name in the entity_name response field if the
                                         # allow_renaming field is set to true. Otherwise, the service call fails and an
-                                        # error is returned.
+                                        # error is returned. 
 bool allow_renaming[]                   # Determines whether the spawning succeeds with a non-unique name.
                                         # If it is set to true, the user should always check entity_name response field
-                                        # and use it for any further interactions.
+                                        # and use it for any further interactions. Number of elements have to match Number
+                                        # of elements in names.
 
 Resource entity_resources[]             # List of resources such as SDFormat, URDF, USD or MJCF file, a native prefab, etc.
                                         # Valid URIs can be determined by calling GetSpawnables first. 
                                         # Check simulator format support via the spawn_formats field in GetSimulatorFeatures.
                                         # Using resource_string is supported if GetSimulatorFeatures includes
-                                        # the SPAWNING_RESOURCE_STRING feature.
+                                        # the SPAWNING_RESOURCE_STRING feature. Number of elements have to match Number
+                                        # of elements in names.
 
-string entity_namespaces[]              # Spawn entities with theirs interfaces under those namespaces.
+string entity_namespaces[]              # Spawn entities with theirs interfaces under those namespaces. Number of elements have to match Number
+                                        # of elements in names.
 geometry_msgs/PoseStamped initial_poses[] # Array of initial poses for every enttiy.
                                         # The header contains a reference frame, which defaults to global "world" frame.
                                         # This frame must be known to the simulator, e.g. of an object spawned earlier.
-                                        # The timestamp field in the header is ignored.
+                                        # The timestamp field in the header is ignored. Number of elements have to match Number
+                                        # of elements in names.
 
 ---
 
 # Additional result.result_code values for this service. Check result.error_message for further details.
-uint8 NAME_NOT_UNIQUE       = 101       # Given name is already taken by entity and allow_renaming is false.
-uint8 NAME_INVALID          = 102       # Given name is invalid in the simulator (e.g. does not meet naming
-                                        # requirements such as allowed characters). This is also returned if name is
-                                        # empty and allow_renaming is false.
-uint8 UNSUPPORTED_FORMAT    = 103       # Format for uri or resource string is unsupported. Check supported formats
-                                        # through GetSimulatorFeatures service, in spawn_formats field.
-uint8 NO_RESOURCE           = 104       # Both uri and resource string are empty.
-uint8 NAMESPACE_INVALID     = 105       # Namespace does not meet namespace naming standards.
-uint8 RESOURCE_PARSE_ERROR  = 106       # Resource file or string failed to parse.
-uint8 MISSING_ASSETS        = 107       # At least one of resource assets (such as meshes) was not found.
-uint8 UNSUPPORTED_ASSETS    = 108       # At least one of resource assets (such as meshes) is not supported.
-uint8 INVALID_POSE          = 109       # initial_pose is invalid, such as when the quaternion is invalid or position
-                                        # exceeds simulator world bounds.
 
-Result results[]
+uint8 BATCH_SPAWN_MISMATCH  = 110       # There is a mismatch in number of elements in names, allow_renaming, entity_resources, 
+                                        # entity_namespaces, initial_poses.
+uint8 BATCH_SPAWN_FAILED    = 120       # There was at least one failed spawn request. Check individual results in results.
+
+Result result                           # If all spawning request succeeded it will give RESULT_OK or BATCH_SPAWN_FAILED
+Result results[]                        # Individual spawn request results. Supported return codes are in SpanwEntity.srv.
 string entity_names[]                   # List of names of spawned entities, guaranteed to be unique in the simulation.
                                         # If allow_renaming is true, it may differ from the request name field.