how to include a world and make it static before spawning your bot into it??

asked 2020-12-16 17:14:27 -0500

JackSparrow gravatar image

I want to include a world (a maze) and spawn my bot into it. But when the bot collides with the wall the maze shifts a bit, i want to make everything except bot static.

The problem is i cant change anything the world file as it will be provided to me and i will have to solve the maze without opening it.

<arg name="paused" default="false"/> <arg name="use_sim_time" default="true"/> <arg name="gui" default="true"/> <arg name="headless" default="false"/> <arg name="debug" default="false"/>

<arg name="x" default="-1.35"/> <arg name="y" default="1.35"/> <arg name="z" default="0.03"/> <arg name="roll" default="0"/> <arg name="pitch" default="0"/> <arg name="yaw" default="-1.57"/>

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

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -urdf -model mybot -param robot_description"/>

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