How ot spawned a hector quadrotor in c++ with necessary topics (control plugins) [closed]

asked 2017-04-26 03:52:39 -0500

jasonwang538@gmail.com gravatar image

Hi everyone

I am using ros gazebo to doing my research project. I meet with one problem and cannot solve it. Hope anyone can offer me some inspirations for solving it.

I spawn all hector quadrotor in a .launch file. And then, use a c++ file for writing controlling algorithm for all these robots. But I need to dynamically remove or respawn robots based on some conditions. And I can finish remove part by myself. But, in terms of respawning robots, I can only spawn the model without any necessay control part for controlling it (e.g., cmd_vel topic for moving and ground_to_truth/pose for sensing the position).

I check the spawn_quadrotor.launch file which is a based launch file for generating a quadrotor in gazebo. I found except for .urdf file, it still include other node packages, like control part (ground_to_truth control). I think that is why I only spawn a model and just a model in c++.

Now, I have a .xacro file for descripting the robot and .launch file for just spawning a hector quadrotor. I need to spawn a hector quadrotor only in c++ with necessary controlling topics (actually cmd_vel and ground_to_truth/pose only). Does anyone know how to realize it?

Thanks for helps from anyone.

Jason

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by jasonwang538@gmail.com
close date 2017-07-10 08:55:47.070743