Hi all,

I'm trying to use the actor animations in Gazebo8 according to this very helpful tutorial: http://gazebosim.org/tutorials?tut=actor&branch=actor I replaced my Gazebo7 with the nightly build of Gazebo8, and the animation seems to work as described in the tutorial.

I was wondering if there is a way to use spawn_model in order to launch the actor without putting the actor tag inside the .world file. In other words, spawn it exactly like a robot. Is this possible? If so, is there an example for how the urdf would look like in this case?

Thanks!