Add SDF elements for transparency, wireframe, etc...

[osrf-migration]

Original report (archived issue) by Peter Mitrano (Bitbucket: peter_mitrano).

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Summary

I would like in my world file to indicate that gazebo should start as if I went to view/transparent in the menu.

Motivation

I am using the gazebo marker to show some markers, and sometimes those markers appear inside obstacles. This means I often start gazebo and then immediately set the view to transparent, so I can debug things. I would expect to write something like:

‌

<sdf version="1.5">
  <world name="default">
      <gui>
          <camera name=/user_camera/>
              <pose frame="">0 0 25 0 1.5707 1.5707</pose>
          </camera>
          <view>
              <transparent>true</transparent>
              <wireframe>true</wireframe>
              ... anything else in that menu
          </view>
      </gui>
      <include>
          <uri>model://ground_plane</uri>
      </include>
      <include>
          <uri>model://sun</uri>
      </include>
      ...
      <physics name="ode" type="ode">
        ...
      </physics>
  </world>
</sdf>

Describe alternatives you've considered

Make the actual models transparent, but then I would need different models for debugging or not which is bad.

[osrf-migration]

Original comment by Peter Mitrano (Bitbucket: peter_mitrano).

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• Edited issue description

[osrf-migration]

Original comment by Peter Mitrano (Bitbucket: peter_mitrano).

---

• Edited issue description

[osrf-migration]

Original comment by Peter Mitrano (Bitbucket: peter_mitrano).

---

• Edited issue description