How can I add models to Gazebo during runtime?
I am currently working on a project at my university that uses ROS Indigo in combination with Gazebo 1.9. What I need is to input some basic cylinders to my simulation after my robot model has moved to a certain position. I have tried using a Gazebo world plugin, but I only manage to input models at simulation start. Is it possible to use a launch file to spawn models in a running simulation? I tried opening a world file with the command gazebo myworld.world, and then roslaunch mylaunch.launch for spawning my robot model, but the launch stops at
[INFO] [WallTime: 1478007130.941782] Waiting for service /gazebo/spawn_urdf_model
I am using ros_control to position my robot, and then I want to put some objects right next to it. Any suggestions will be appreciated!
You can edit the Gazebo world plugin to input models at a certain time (for instance when the status of a topic changes, or for a ROS service).
Another option is using the Gazebo GUI to add objects. You can either use them from the model database or from your own database.