[PlayerStage-Gazebo] Changing simple solid 2D texture file while the server is running

[Joshua L. P. <man...@us...>]

Hello,

I have a couple of projects where I used the box SimpleSolid as a kind
of TV screen for my robots. That is, I change the 2D texture file while
the server is running by adding a gloriously ugly hack into the main
idle loop (which polls a socket for a filename which then gets applied
like so:)

models[x]->GetBodies()[0]->GetGeoms()[0]->SetTexture2DFile(filename);

where x is the index of my box Simple Solid. I did this in version 0.4.1
and 0.5.1

However, I am having difficulties doing this in the newer versions due
to API changes and (more importantly) I would be interested in the
CORRECT way to make this happen. I can't use some kind of animated
image, either, because these images are applied at various times/orders
throughout the simulation.

So, WHERE in the code should I be doing this and WHAT methods/functions
would be the best for this kind of alteration?

Thanks,
Josh