How can I add models to Gazebo during runtime?

asked 2016-11-01 09:00:11 -0500

snekbot gravatar image

updated 2016-11-01 10:05:13 -0500

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, 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!

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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.

JoshMarino gravatar image JoshMarino  ( 2016-11-01 18:24:52 -0500 )edit