tradition/spawn_model

name	pkg	type
spawn_model	gazebo_ros	spawn_model

Usage in launch file.

<node
    name="spawn_model"
    pkg="gazebo_ros"
    type="spawn_model"
    args="-file $(find broom)/robots/broom.urdf -urdf -model broom -x 0 -y 0 -z 1 -R 0.1 -P 0.1 -Y 0.1"

Usage

rosrun gazebo_ros spawn_model -file `rospack find broom`/robots/urdf/broom.urdf -urdf -x 0 -y 0 -z 1

gazeboにモデルを生成する方法．
broom.urdfを座標(0 0 -1)に生成している．座標を省略すると原点にモデルが生成される．
具体的には，urdfにかかれているbase_linkの座標がgazeboの(0 0 0)に重なるようにモデルが出現する．

usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]