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That is a good question:

Looking into the examples, all I can say is that seems like the new approach is using a topic named robot_description to load xacro code. See https://github.com/ros-simulation/gazebo_ros2_control/blob/master/gazebo_ros2_control_demos/launch/cart_example_effort.launch.py#L55. I can not find any other code using parameters.

Hope it helps.

That is a good question:

Looking into the examples, all I can say is that seems like the new approach is using a topic named robot_description to load xacro code. See https://github.com/ros-simulation/gazebo_ros2_control/blob/master/gazebo_ros2_control_demos/launch/cart_example_effort.launch.py#L55. I can not find any other code using parameters.

To complete the information I've updated the gazebo_ros_pkgs migration wiki https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Spawn-and-delete

Hope it helps.