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This article introduces the knowledge of "how to add objects in gazebo". Many people will encounter this dilemma in the operation of actual cases, so let the editor lead you to learn how to deal with these situations. I hope you can read it carefully and be able to achieve something!

Modified to virtual machine IP address

Ipaddress = '192.168.137.129'

Initialization

Rosinit (ipaddress)

Get gazebo element

Gazebo = ExampleHelperGazeboCommunicator ()

Create a new ball

Ball = ExampleHelperGazeboModel ('Ball')

%% set the details of the ball

Spherelink = addLink (ball,'sphere',0.6,'color', [0 0 1 1])

% place ball

SpawnModel (gazebo,ball, [8.5pj0pl 1])

%% defines several object positions

X = [1.5 1.5 1.5 2.5 2.5 2.5 3.5 3.5 4.5]

Y = [- 1.5-0.5 0.5 1.5-10 1-0.5 0 0]

Create a new post

Pin = ExampleHelperGazeboModel ('BowlPin')

%% details of setting up posts

Link1 = addLink (pin,'cylinder', [1. 2], 'position', [0. 0. 5])

Link2 = addLink (pin,'sphere',0.2,'position', [0,1.2], 'color', [0.70 0.21])

Joint = addJoint (pin,link1,link2,'revolute', [0 0], [0 01])

%% place these posts

For I = 1:10

SpawnModel (gazebo,pin, [x (I), y (I), 0.7])

Pause (1)

End

If the robot was in it last time, remove it.

If ismember ('mobile_base',getSpawnedModels (gazebo))

RemoveModel (gazebo,'mobile_base')

End

Create a new barrier

Barrier = ExampleHelperGazeboModel ('jersey_barrier','gazeboDB')

% place barrier

SpawnModel (gazebo,barrier, [1.5 Right barrier 3jue 0]);%

Pause (1)

SpawnModel (gazebo,barrier, [1.5 ~ 3pm 0]);% Left barrier

%% get the blue ball you just placed by name

SpawnedBall = ExampleHelperGazeboSpawnedModel (ball.Name,gazebo)

%% set the magnitude and direction time of the external force

Duration = 1;% Seconds

Forcevec = [- 7500];% Newtons

%% external force

ApplyForce (spawnedBall, spherelink, duration, forcevec)

Pause (5)

% clear balls and posts

ExampleHelperGazeboCleanupBowling

% emptying

Clear

% close connection

Rosshutdown

Matlab2016b environment is required to run the program

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