[ros-users] how to spawn an object in gazebo

[Billy Okal]

Hi Ali,

To spawn objet in gazebo you need to first have gazebo running by doing this

roslaunch gazebo_worlds empty_world.launch


This should start a gazebo gui. then spawn the object using the

'rosrun gazebo spawn_model -file `pwd`/object.urdf -urdf -z 1 -model
my_object'

as you did before. For more info, look at the tutorials here

http://www.ros.org/wiki/simulator_gazebo/Tutorials/SpawningObjectInSimulation

Futher, the code segment
<gazebo reference="my_box">
   <material>Gazebo/Blue</material>
</gazebo>

just adds color to the object(my_object in this case). More info on this is
available on the urdf reference here
http://www.ros.org/wiki/urdf/XML under the gazebo elements

best,
billy

On 6 January 2011 14:52, Ali Abbas <malikaliabbas at gmail.com> wrote:

>
> Hello All,
>
> I am using karmic. Also I am a student. I have made an object using urdf
> and
> succeeded to spawn it in RViz. Now I want to spawn this object in gazebo
> using that urdf file by executing the following command.
>
> 'rosrun gazebo spawn_model -file `pwd`/object.urdf -urdf -z 1 -model
> my_object'
>
> but unable to view it in gazebo.
>
> Moreover I just want to know about the following few lines in 'urdf' file.
> I
> have not written these lines in my 'urdf' file.
>
> <gazebo reference="my_box">
>    <material>Gazebo/Blue</material>
> </gazebo>
>
> 'my_box' is just a link. what should be the procedure to spawn an object
> with multiple links.
>
> Thanks in advance,
>
> Regrds,
> Ali Abbas
> --
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