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You have to upload URDF model of your object to ROS parameter server (for instance as object_model). Then you have to add its display, type robot model (set robot description to "object_model"), in RVIZ and publish its transformation via TF.

Sample code: http://pastebin.com/hcipigtf. It's reading object position from Gazebo and publishing transformation between world frame, robot base_link and object link.

You have to upload URDF model of your object to ROS parameter server (for instance as object_model). (object1, object2) - it's already in your launch file.

Then you have to add its display, display in RVIZ - type robot model (set robot description to "object_model"), in RVIZ and publish its transformation via TF."object1"). For object2 you have to add next robot model display.

Sample code: And finally publish transformations via TF - sample code for this task is here: http://pastebin.com/hcipigtf. It's reading (one) object position from Gazebo and publishing transformation between world frame, robot base_link and object link.

You have to upload URDF model of your object to ROS parameter server (object1, object2) - it's already in your launch file.

Then you have to add its display in RVIZ - type robot model (set robot description to "object1"). For object2 you have to add next robot model display.

And finally publish transformations via TF - sample code for this task is here: http://pastebin.com/hcipigtf. here. It's reading (one) object position from Gazebo and publishing transformation between world frame, robot base_link and object link.