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Hi, I created a demo trying to solve this question. I created a World plugin for Gazebo that launches particles in a desired direction. You just have to add it to your worls with the number of particle models you want to be and that's quite it.

Here a Leave a Video explaining a bit all the code

Here I leave you the ROSJECT

Here the Git with the code

And here I leave the main cpp file that makes everything work. It essentially we reset the positions of the particles ( particles are considered any model with the name particle in it ) in the world and then apply a force in the desired direction. All the particles have their gravity disconnected.

particle_shooter_plugin.cpp

particle_shooter.world

Hope it was useful

Hi, I created a demo trying to solve this question. I created a World plugin for Gazebo that launches particles in a desired direction. You just have to add it to your worls with the number of particle models you want to be and that's quite it.

Here a Leave a Video explaining a bit all the code

Here I leave you the ROSJECT

Here the Git with the code

And here I leave the main cpp file that makes everything work. It essentially we reset the positions of the particles ( particles are considered any model with the name particle in it ) in the world and then apply a force in the desired direction. All the particles have their gravity disconnected.

particle_shooter_plugin.cpp

particle_shooter.world

Hope it was useful

Hi, I created a demo trying to solve this question. I created a World plugin for Gazebo that launches particles in a desired direction. You just have to add it to your worls with the number of particle models you want to be and that's quite it.

Here a Leave a Video explaining a bit all the code

Here I leave you the ROSJECT

Here the Git with the code

And here I leave the main cpp file that makes everything work. It essentially we reset the positions of the particles ( particles are considered any model with the name particle in it ) in the world and then apply a force in the desired direction. All the particles have their gravity disconnected.

particle_shooter_plugin.cpp

particle_shooter.world

Hope it was useful

image description

Hi, I created a demo trying to solve this question. I created a World plugin for Gazebo that launches particles in a desired direction. You just have to add it to your worls with the number of particle models you want to be and that's quite it.

Here a Leave a Video explaining a bit all the code

Here I leave you the ROSJECT

Here the Git with the code

And here I leave the main cpp file that makes everything work. It essentially we reset the positions of the particles ( particles are considered any model with the name particle in it ) in the world and then apply a force in the desired direction. All the particles have their gravity disconnected.

particle_shooter_plugin.cpp

particle_shooter.world

Hope it was useful

image description