Hi there,
I'm recently started with ROS and now I'm trying to work with the gazebo simulator.
My question: How can a spawn an object, for example the blue box in the gazebo tutorials, more than one time (on different positions)?
In gazebo you can re-use the same urdf to spawn the same object at different places by using different model names.
rosrun gazebo spawn_model -urdf -file box.urdf -model box1 -x 1.0 -y 1.0 -z 1.0
rosrun gazebo spawn_model -urdf -file box.urdf -model box2 -x 4.0 -y 4.0 -z 1.0
It's too vague, I don't understand your motivation.
A simple solution is using the command(after running Gazebo):
rosrun gazebo spawn_model -urdf -file box.urdf -model box -x 1.0 -y 1.0 -z 1.0
Something like the following can be done inside a script, and for example any number of instances spawned in a for loop:
model_xml = rospy.get_param("/foo/robot_description")
pose = Pose()
pose.orientation.w = 1.0
model_name = "foo_" + str(i) # or whatever, just needs to be unique
# may want to delet the model first
# delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
# delete_model(model_name)
spawn_model = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel)
req = SpawnModelRequest()
req.model_name = model_name
req.model_xml = model_xml
# should this be unique so ros_control can use each individually?
req.robot_namespace = "/foo"
req.initial_pose = pose
resp = spawn_model(req)
Asked: 2013-01-13 07:07:04 -0500
Seen: 1,828 times
Last updated: Sep 14 '18
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