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How to Modify a Running Gazebo Simulation?

asked 2014-05-21 14:46:22 -0500

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Hi all,

So I am using roslaunch command to simulate a simple Gazebo world file which contains some cubic obstacles. I have a question which I have not been able find any solution for: Once the simulation is up and running, can I add any objects to Gazebo simulation without having to use the graphical user interface? I am using ROS Hydro and Gazebo-1.9.

I would appreciate any kind of help.



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Could you please update the answer and include which version of gazebo are you using?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-05-21 17:18:45 -0500 )edit

Sure, it is ROS Hydro and Gazebo -1.9

ali_mohandes gravatar imageali_mohandes ( 2014-05-21 17:25:18 -0500 )edit

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answered 2014-05-21 18:02:47 -0500

Jose Luis Rivero gravatar image

There are at least two ways of doing this:

  1. From the command line: using the gzfactory tool (look at the spawn parameter). The user guide described it perfectly.
  2. Programmatically: using a world plugin as described in the corresponding tutorial

Hope it helps.

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Thanks a lot. I used gzfactory and it worked. I appreciate your help.

ali_mohandes gravatar imageali_mohandes ( 2014-05-21 22:36:39 -0500 )edit
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Asked: 2014-05-21 14:46:22 -0500

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Last updated: May 21 '14