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I take a .pcd file as input and process the pointcloud using pcl. I then want to spawn an object in Gazebo using the results of that processing so that I can simulate the manipulation of that object with a pr2. Is there a programmatic way to do this , i.e. using c++.
When you spawn it in a launch file it works like this:
<node name="spawned_object_name" pkg="gazebo" type="spawn_model"
args="-urdf -file $(find rospackagename)/path/to/file.urdf -model
object_name_from_gazebo_perspective -x 0.50 -y 0.05 -z 0.65"
respawn="false" output="screen" />
If you look at
http://www.ros.org/wiki/simulator_gazebo/Tutorials/Gazebo_ROS_API
it tells you that there is also a ROS service gazebo/spawn_model which you can call programmatically through a ROS message - this seems like the right way to do it.
Here is the documentation of the service:
Asked: 2011-11-20 13:46:30 -0500
Seen: 2,865 times
Last updated: Nov 21 '11
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