How to add objects to gazebo
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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