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Hello. I'm trying to spawn a box in a certain part of gazebo world. However, this process should continue many times in a certain frequency. In another words, I want to spawn a box in certain frequency in gazebo environment. How can I do this? Thanks in advance.
Hi,
You can wrap the necessary code for spawning one box inside a Gazebo world inside a service, which takes in maybe a trigger, and a location of the box. You can then add a call to this service in your Timer callback, and this should help you spawn the boxes with a certain frequency.
Hi,
Thank you for your answer. I have found a workaround mostly like you suggested. I will change it like you said using a timer.
My current code is similar:
for i in range(100):
x = random.randint(18,27)
y = random.randint(-3,7)
yaw = np.random.randn()
x = float(x)
y = float(y)
yaw = float(yaw)
self.initial_pose.position.x = x
self.initial_pose.position.y = y
self.initial_pose.position.z = 0.0
self.initial_pose.orientation.z = yaw
model_name = "object_"+str(i)
model_xml = random.choice(self.xml_files)
self.call_spawn_model_server(model_name, model_xml, self.initial_pose)
time.sleep(45.0)
Hi, thanks for posting your code snippet! I am sure that it will benefit other users of the forum
Asked: 2022-07-31 05:12:22 -0500
Seen: 149 times
Last updated: Aug 01 '22
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