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Equivalent of simulator_gazebo's spawn_model for drcsim

The versions of Gazebo that ship with the simulator_gazebo stack include a spawn_model script that calls the service /gazebo/spawn_gazebo_model or /gazebo/spawn_urdf_model to spawn a new model into an already-running world. However, drcsim doesn't provide either of these services. Is there some other way to programmatically spawn a model into an already running instance of the drcsim version of Gazebo? (I found some tutorials on modifying world contents, but they involve creating a new .world file, which is not what I want to do.) Or could I change something somewhere to make drcsim advertise the /gazebo/spawn_*_model topics?

(The reason I'm asking is because I'd like to use the drcsim version of Gazebo for something non-DRC-related that I'm doing, because it's newest and (presumably) most stable version of Gazebo that's integrated with ROS.)

Equivalent of simulator_gazebo's spawn_model for drcsim

The versions of Gazebo that ship with the simulator_gazebo stack include a spawn_model script that calls the service /gazebo/spawn_gazebo_model or /gazebo/spawn_urdf_model to spawn a new model into an already-running world. However, drcsim doesn't provide either of these services. Is there some other way to programmatically spawn a model into an already running instance of the drcsim version of Gazebo? (I found some tutorials on modifying world contents, but they involve creating a new .world file, which is not what I want to do.) Or could I change something somewhere to make drcsim advertise the /gazebo/spawn_*_model topics?

(The reason I'm asking is because I'd like to use the drcsim version of Gazebo for something non-DRC-related that I'm doing, because it's newest and (presumably) most stable version of Gazebo that's integrated with ROS.)

Equivalent of simulator_gazebo's spawn_model for drcsim

The versions of Gazebo that ship with the simulator_gazebo stack include a spawn_model script that calls the service /gazebo/spawn_gazebo_model or /gazebo/spawn_urdf_model to spawn a new model into an already-running world. However, drcsim doesn't provide either of these services. Is there some other way to programmatically spawn a model into an already running instance of the drcsim version of Gazebo? (I found some tutorials on modifying world contents, but they involve creating a new .world file, which is not what I want to do.) Or could I change something somewhere to make drcsim advertise the /gazebo/spawn_*_model topics?

(The reason I'm asking is because I'd like to use the drcsim version of Gazebo for something non-DRC-related that I'm doing, because it's newest and (presumably) most stable version of Gazebo that's integrated with ROS.)

Equivalent of simulator_gazebo's spawn_model for drcsim

The versions of Gazebo that ship with the simulator_gazebo simulator_gazebo stack include a spawn_model spawn_model script that calls the service /gazebo/spawn_gazebo_model /gazebo/spawn_gazebo_model or /gazebo/spawn_urdf_model /gazebo/spawn_urdf_model to spawn a new model into an already-running world. However, drcsim doesn't provide either of these services. Is there some other way to programmatically spawn a model into an already running instance of the drcsim version of Gazebo? (I found some tutorials on modifying world contents, but they involve creating a new .world file, which is not what I want to do.) Or could I change something somewhere to make drcsim advertise the /gazebo/spawn_*_model /gazebo/spawn_*_model topics?

(The reason I'm asking is because I'd like to use the drcsim version of Gazebo for something non-DRC-related that I'm doing, because it's newest and (presumably) most stable version of Gazebo that's integrated with ROS.)