Spawn Object to Gazebo via Terminal ROS Service Call

By Frank Hu

Have Gazebo Simulation started, and open a different terminal tab, and enter the following command to spawn a model (.urdf)

rosrun gazebo_ros spawn_model -file `rospack find MYROBOT_description`/urdf/MYROBOT.urdf -urdf -x 0 -y 0 -z 1 -model MYROBOT

This command can also been used for .sdf files by replacing flag -urdf with -sdf

For .xacro files, .xacro first need to be converted to .xml with:

rosrun xacro xacro `rospack find rrbot_description`/urdf/MYROBOT.xacro >> `rospack find rrbot_description`/urdf/MYROBOT.xml

then

rosrun gazebo_ros spawn_model -file `rospack find rrbot_description`/urdf/MYROBOT.xml -urdf -y 1 -model rrbot1 -robot_namespace rrbot1

For more information, enter

rosrun gazebo_ros spawn_model -h