launch scripts for gazebo

Question

asked Sep 01 '11

Arkapravo

462 ● 1 ● 5 ● 24
http://www.mobotica.com/

updated Sep 02 '11

kwc
7078 ● 23 ● 67 ● 117
http://kwc.org/

I am moving from Player/Stage/Gazebo to ROS. Working with Gazebo, in Player/Stage/Gazebo used to be with world files (viz. gazebo pioneer2dx.world) however in ROS it is with launch files. So, my first question - how to make launch file for the corresponding world file ?

Accepted Answer

answered Sep 01 '11

Thomas D

538 ● 2 ● 10 ● 22
http://ibotics.ucsd.edu/t...

If you want to launch Gazebo using an empty world and then put your_robot (URDF) model into that world you can use:

  <!-- Start Gazebo. -->
  <param name="/use_sim_time" value="false"/>
  <node
    pkg="gazebo" type="gazebo" name="gazebo"
    args="$(find gazebo_worlds)/worlds/empty.world">
  </node>
  <node
    pkg="gazebo" type="spawn_model" name="spawn_your_robot"
    args="-urdf -file $(find your_robot_model)/your_robot.xml -model your_robot">
  </node>

Further, you can create a node called your_robot that broadcasts a transform for your robot. If you want to see your robot move in Gazebo, then the your_robot node also needs to publish the state of your robot on the topic gazebo/set_model_state. See this page for more details about what ROS Gazebo publishes and subscribes to.

Alternatively, you can use the Gazebo services to make your_robot URDF model move in Gazebo.

launch scripts for gazebo

Comments

1 Answer

Your answer

Question tools

Stats

Related questions