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You can create a model plugin for your gazebo model, you need insert box model into the world file and specify the name of your model plugin so that you can manipulate the states/properties of this model through the plugin. Inside The plugin you can well use ros functinoalities like subscriber and publishers, this way you Can have access to topics that you will use to change the pose of model accordingly.
| | 2 | No.2 Revision |
You can create a model plugin for your gazebo model, you need insert box model into the world file and specify the name of your model plugin so that you can manipulate the states/properties of this model through the plugin. Inside The plugin you can well use ros functinoalities like subscriber and publishers, this way you Can have access to topics that you will use to change the pose of model accordingly.accordingly.
Have look at link below to see a gazebo plugin that I wrote for my project,
It’s simply moves an object randomly
Between defined boundaries,
https://github.com/jediofgever/random_pointcloud_data_gen/tree/master/plugins
note; I am not sure if this is the simplisest way to handle this but I would have done it this way, hope it helps
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