Replaced AddModelFromFile with AddModels (#326)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
RobotLocomotion · Jan 4, 2024 · b9b20c7 · b9b20c7
1 parent 5661886
commit b9b20c7
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/drake_ros_examples/examples/hydroelastic/hydroelastic.cc b/drake_ros_examples/examples/hydroelastic/hydroelastic.cc
@@ -67,8 +67,7 @@ void AddScene(MultibodyPlantd* plant) {
 
   std::filesystem::path fs_path{
       parser.package_map().GetPath("drake_ros_examples")};
-  parser.AddAllModelsFromFile(
-      (fs_path / "hydroelastic/hydroelastic.sdf").string());
+  parser.AddModels((fs_path / "hydroelastic/hydroelastic.sdf").string());
 }
 
 int do_main() {

diff --git a/drake_ros_examples/examples/multirobot/multirobot.cc b/drake_ros_examples/examples/multirobot/multirobot.cc
@@ -84,8 +84,10 @@ int main(int argc, char** argv) {
       // coordinates in the array
       std::stringstream model_instance_name;
       model_instance_name << model_name << xx << '_' << yy;
-      auto model_instance =
-          parser.AddModelFromFile(model_file_path, model_instance_name.str());
+      parser.SetAutoRenaming(true);
+      auto model_instance = parser.AddModels(model_file_path)[0];
+
+      plant.RenameModelInstance(model_instance, model_instance_name.str());
 
       // Weld the robot to the world so it doesn't fall through the floor
       auto& base_frame = plant.GetFrameByName("base", model_instance);