Gazebo_ros spawn_model reference_frame not working
Hi there,
I am launching the following world with the empty_world.launch
file:
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find my_pkg)/world.world" />
</include>
Where world.world
is:
<sdf version="1.5">
<world name="default">
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Extra objects -->
<model name='unit_cylinder_1'>
<pose>0 0 2 3.141592 0 1.57</pose>
...
I am also launching the following:
<node ns="alpha" name="spawn_robot" pkg="gazebo_ros" type="spawn_model" output="screen"
args="-param robot_description
-urdf -model alpha
-robot_namespace alpha
-reference_frame unit_cylinder_1
-x 2
-y 4
-z 0"/>
But I keep getting this error: Spawn status: SpawnModel: reference reference_frame not found, did you forget to scope the link by model name?
Parameter robot_description
is in the alpha
namespace and it is a valid URDF (it works if I remove the -reference_frame
).
Basically, my question is: is there a bug on the -reference_frame
argument or is there something else I am missing? Maybe is related with namespaces or something.
Thanks!