Connect ROS to running Gazebo instance

asked 2019-05-13 07:34:46 -0500

espetro gravatar image

Hello there!

I want to connect ROS to a Gazebo instance; although I know it can be done with by means of gazebo_ros launch files, I need to do it after I launched Gazebo. This is becuase I am running Sphinx, which is a Gazebo port for Parrot Drones.

Therefore let's say I execute Sphinx/Gazebo separately. Then

echo $GAZEBO_MASTER_URI
http://localhost:11345

with this in mind, if I want to spawn a model with ROS, how can I tell it to look for the Gazebo instance?

Thanks in advance! :D

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Comments

Just to clear things up: afaik the spawn_model service (or at least the one that the gazebo_ros_pkgs scripts use) is not something native to Gazebo, but added by the plugins in gazebo_ros_pkgs.

Unless you can load additional plugins into Sphinx, I'm not sure what you asking for is possible.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-13 07:47:23 -0500 )edit