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Ahh never mind, I managed to find another example file from someone that had the easy solution.

The create executable appears to be the new entity_spawner for Ignition.

spawn = Node( package='ros_gz_sim', executable='create', arguments=[ '-name', 'ROBOT_NAME', '-topic', 'robot_description', ], output='screen', )

This successfully spawns my robot into my world while gazebo is running. seems so simple and yet I only managed to find it by fluke. If anyone else is stuck on this, hopefully this post helps clarify things.