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entity creation tutorial snippets fix #710

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merged 3 commits into from
Mar 29, 2021
Merged

entity creation tutorial snippets fix #710

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entity creation tuturoal snippets fix
ammaar8 Mar 26, 2021
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Merge branch 'main' into entity-creattion-tut-fix
ahcorde Mar 26, 2021
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Merge branch 'main' into entity-creattion-tut-fix
ahcorde Mar 29, 2021
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10 changes: 5 additions & 5 deletions tutorials/entity_creation.md
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Expand Up @@ -70,7 +70,7 @@ This tutorial introduces how to create entities from SDF strings and light messa
We will open an empty Ignition Gazebo world, let's start creating a sphere in the world.
In the next snippet you can see how to create models based on strings.

\snippet examples/standalone/model_creation/model_creation.cc create sphere
\snippet examples/standalone/entity_creation/entity_creation.cc create sphere

The variable `sphereStr` contains the SDF of the model that we want to create in the world.
In this case we are creating a sphere of 1 meter of radius in the position: `x: 0 y: 0 z: 0.5 roll: 0 pitch: 0 yaw: 0`.
Expand All @@ -79,7 +79,7 @@ In this case we are creating a sphere of 1 meter of radius in the position: `x:

Then we need to call the service `/world/<world_name>/create`:

\snippet examples/standalone/model_creation/model_creation.cc call service create sphere
\snippet examples/standalone/entity_creation/entity_creation.cc call service create sphere

**NOTE**: By default, if the entity name does not exist then the entity will be created
in the world. On the other hand, if that entity name already exists, then nothing will
Expand All @@ -96,16 +96,16 @@ To insert a light in the world we have two options:

In the following snippet you can see how the light's field is filled.

\snippet examples/standalone/model_creation/model_creation.cc create light
\snippet examples/standalone/entity_creation/entity_creation.cc create light

Or we can create an SDF string:

\snippet examples/standalone/model_creation/model_creation.cc create light str
\snippet examples/standalone/entity_creation/entity_creation.cc create light str

Please check the API to know which fields are available in the
[Light message](https://ignitionrobotics.org/api/msgs/6.2/classignition_1_1msgs_1_1Light.html).
There are three types of lights: Point, Directional and Spot.

Finally we should call the same service `/world/<world_name>/create`:

\snippet examples/standalone/model_creation/model_creation.cc call service create
\snippet examples/standalone/entity_creation/entity_creation.cc call service create