Connect ROS to running Gazebo instance
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
Just to clear things up: afaik the
spawn_model
service (or at least the one that thegazebo_ros_pkgs
scripts use) is not something native to Gazebo, but added by the plugins ingazebo_ros_pkgs
.Unless you can load additional plugins into Sphinx, I'm not sure what you asking for is possible.