# gazebo/spawn_sdf_model can't spawn object at correct coordinatesc

Hello everybody,

I found that there is a service call for spawning models in gazebo. I have tried it already and it works. The only problem I have is that my object doesn't get spawned at the coordinates I need it to have yet. Also I might be a bit confused about the parameters one can hand over with the request.

I am receiving the coordinates of an object in a certain frame, let's say /camera from a topic. Now I want to place the object correctly using these coordinates. I figured I should probably have them in /map coordinates, is that right?

So what I tried I currently do is:

pose = self.tf_listener.transformPose("map", oldPose) #old Pose is in the /camera frame
self.spawn_model_proxy=rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModal)
self.sdf_file = open('path/to/file', 'r')