How to react with Models listed in Gazebo

asked 2018-09-10 18:19:54 -0500

Yousof gravatar image

updated 2018-09-10 18:20:41 -0500

Hello, My System: Ubuntu 18.04 and ROS melodic I am new with gazebo_ros. I have opened gazebo using rosrun gazebo_ros gazebo and inserted turtlebot. the gazebo looks like this. image description Then I saved the world file and using the launch file below I can run it again: follower is the name of the package.

<?xml version="1.0" encoding="UTF-8"?>
  <arg name="world" default="empty"/> 
  <arg name="paused" default="true"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find follower)/src/worlds/"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="true"/>
    <arg name="verbose" value="true"/>

Now I am wondering what more do I need to use these models. Because these models do not offer any new topic to use them like for moving the robot or any sensor values as rostopics. I understand that this question may be repeated but to the best of my knowledge I could not find the answer for it.

For these models, that they were already inside the gazebo, what more files, commands, etc I need to move them and read their sensor values as rostopic?

In the world file there is no plugin. but it has the robots. here is the world file

thanks in advance

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Because this world file is sdf file, I cannot use it with ROS. Am I correct?

Yousof gravatar image Yousof  ( 2018-09-10 19:10:38 -0500 )edit

just from a quick look, this file have kinetic sensor description in it

Choco93 gravatar image Choco93  ( 2018-09-11 01:38:55 -0500 )edit