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1 | initial version |
usage: spawn_model [-h] (-urdf | -sdf)
(-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
-model MODEL_NAME [-reference_frame REFERENCE_FRAME]
[-gazebo_namespace GAZEBO_NAMESPACE]
[-robot_namespace ROBOT_NAMESPACE] [-unpause]
[-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
[-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
[-b]
R, P, and Y stand for roll pitch and yaw. Yaw is what you want. Hence:
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description -urdf -x -0.5 -y 1 -z 0.05 -Y 3.1416 -model pepper_MP" />