GetBoundingBox() values not changing after scale in gazebo (using : visual_plugin)

Gazebo ver: 7.0, ROS : Kinetic Hello, I am using a visual_plugin to get the box corner points, so later while scaling the object to change the color. I run this plugin inside the box model from the sdf file. Everything loads good, the box points in the beginning are ok, same as defined in sdf, but if I scale the box (Inside Gazebo), the points when I printout > box_points_, remain the same but if I check in Gazebo into the properties of the box, the points are updated. How can I get the boundingbox to update the points in the plugin as I scale. **TheBox.sdf** 30 13.9 3.05 0 0 0.012944false0.518 2.9 61 0 0 11 0 0 10.1 0.1 0.1 10 0 0 0 **BoxManipulator.cpp** #include "BoxManipulator.h" void BoxManipulator::Load(gazebo::rendering::VisualPtr _parent, sdf::ElementPtr _sdf) { // Store the pointer to the model this->world_ = _parent; this->scene_ = gazebo::rendering::get_scene(); this->box_ = this->scene_->GetVisual("TheBox"); // Listen to the update event. This event is broadcast every simulation iteration. this->update_connection_ = gazebo::event::Events::ConnectPreRender(std::bind(&BoxManipulator::OnUpdate, this)); } // Called by the world update start event void BoxManipulator::OnUpdate() { // Box model gazebo::math::Vector3 box_origin_ = this->box_->GetWorldPose().pos; gazebo::math::Quaternion box_orientation_ = this->box_->GetWorldPose().rot; //Update the points getBoxPoints(); //Printout the points for (int i = 0; i < box_points_.size(); i++) { std::cout << "Box corner points : [" << i << "] - " << box_points_[i] << std::endl; } std::cout << std::endl; box_points_.clear(); // //Later So I can change the color of the box, in different scales // ROS_INFO("Box smaller than 1^3"); // red_ = 1; green_ = 0; // gazebo::common::Color _color(red_, green_, blue_, alpha_); // this->world_->SetAmbient(_color); // this->world_->SetDiffuse(_color); } bool BoxManipulator::getBoxPoints(void){ gazebo::math::Vector3 _buff; box_points_.reserve(8); _buff.x = this->box_->GetBoundingBox().min.x; _buff.y = this->box_->GetBoundingBox().min.y; _buff.z = this->box_->GetBoundingBox().min.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().min.x; _buff.y = this->box_->GetBoundingBox().max.y; _buff.z = this->box_->GetBoundingBox().min.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().min.x; _buff.y = this->box_->GetBoundingBox().max.y; _buff.z = this->box_->GetBoundingBox().max.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().min.x; _buff.y = this->box_->GetBoundingBox().min.y; _buff.z = this->box_->GetBoundingBox().max.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().max.x; _buff.y = this->box_->GetBoundingBox().min.y; _buff.z = this->box_->GetBoundingBox().min.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().max.x; _buff.y = this->box_->GetBoundingBox().max.y; _buff.z = this->box_->GetBoundingBox().min.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().max.x; _buff.y = this->box_->GetBoundingBox().max.y; _buff.z = this->box_->GetBoundingBox().max.z; box_points_.push_back(_buff); _buff.x = this->box_->GetBoundingBox().max.x; _buff.y = this->box_->GetBoundingBox().min.y; _buff.z = this->box_->GetBoundingBox().max.z; box_points_.push_back(_buff); return true; } // Register this plugin with the simulator GZ_REGISTER_VISUAL_PLUGIN(BoxManipulator) } **BoxManipulator.h** #ifndef ___BOX_MANIPULATOR___ #define ___BOX_MANIPULATOR___ #include #include #include #include #include class BoxManipulator : public gazebo::VisualPlugin { public: /// \brief Load the model from the sdf void Load(gazebo::rendering::VisualPtr _parent, sdf::ElementPtr _sdf); /// \brief Called by the world update start event virtual void OnUpdate(); private: /// \brief Pointer to the model gazebo::rendering::VisualPtr world_; /// \brief Variable to store the box model gazebo::rendering::VisualPtr box_; /// \brief Pointer to the update event connection gazebo::event::ConnectionPtr update_connection_; /// \brief get box points bool getBoxPoints(void); /// \brief check bool check(void); gazebo::rendering::ScenePtr scene_; double red_ = 0, green_ = 0, blue_ = 0, alpha_ = 0.5; std::vector box_points_; }; #endif