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The robot and The Object are unconnected objects, so typically arel not described in the same urdf/xacro/sdf file. In gazebo, you create an instance of an object by "spawning" it into the world at some initial position. After that, the physics simulator determines the behavior of all independent objects e.g. if something crashes into your Object, it may move. If you spawn an object in mid-air, gravity will cause it to fall to the ground.

The robot and The Object are unconnected independent objects, so typically arel are not described in the same urdf/xacro/sdf file. In gazebo, you create an instance of an object by "spawning" it into the world at some initial position. After that, the physics simulator determines the behavior of all independent objects e.g. if something crashes into your Object, it may move. If you spawn an object in mid-air, gravity will cause it to fall to the ground.