You can use this script in the following way: Do you want to proceed with fixing and sending a PR to solve the problem? You signed in with another tab or window. Because the launch files provided by gazebo_ros: you can see that in line 30-41 it grabs the gazebo_ros gazebo_model_path that you set in your package.xml file and converts them to GAZEBO_MODEL_PATH for Gazebo. If you start gazebo yourself and you do not include this, that could cause issues for you. Maybe someone else can pick this up? Spawn entity timeout in Gazebo from Ros2 November 13, 2022 In "Errors" libgl error pic id driver null - ros2 turtlesim October 30, 2022 In "Errors" The Repository is not Signed - Ubuntu ros2 installation October 30, 2022 In "Robotics" This entry was posted in Errors, Robotics, ros and tagged error, Robotics, ros2 on December 11, 2022 . Finally, we can spawn our robot using the spawn script provided by gazebo_ros. But when I run the command gazebo freezes. I'll test it today and if it works on my end I'll close this issue. This has been merged: My launch file worked for months and then suddenly stop working with the following error: The problem was due to the inconsistency of some packages. The text was updated successfully, but these errors were encountered: Could you print the value of GAZEBO_MODEL_PATH and GAZEBO_RESOURCE_PATH environment variables? This method uses a small python script called spawn_model to make a service call request to the gazebo_ros ROS node (named simply "gazebo" in the rostopic namespace) to add a custom URDF into Gazebo. Thank you very much for the quick response! Do you know where can I check which absolute gazebo_model_path is exported (e.g. By clicking Sign up for GitHub, you agree to our terms of service and How did you add the symbolic link in the launch.py to the models folder? The last step creates an additional controller node for the plugin. actions import Node: from launch. These lines could solve the problem. Here's an example on how to use the script. Prerequisites. My URDF works fine in ros1 and if I replace the mesh with an box it works fine. Private Tuscany tour: Siena, San Gimignano and Chianti. to your account. Maybe the problem has fixed itself recently? Tuscany Wine & Food Tour with Guide From Florence. actions. I have no experience with making packages available through I then open up a second shell and type in the following: source /opt/ros/crystal/setup.bash Again thanks for the help and I will now close the issue. https://index.ros.org/doc/ros2/Tutorials/Node-arguments/. We need to install a whole bunch of stuff, including the differential drive plugin that will enable us to control the speed of our robot using ROS 2 commands. [ERROR] [spawn_entity.py-3]: process has died [pid 7068, exit code 2, cmd '/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py -entity demo -database double_pendulum_with_base --ros-args']. (If I understand that part correcty @chapulina ?) I think it will be difficult to help unless you provide a minimal example of the issue you're facing. This is a bit dirty, as gazebo is searching model.config files in the project install repo on start up. Was coursed by wrong gazebo paths. Already on GitHub? # Author: Addison Sears-Collins # Date: November 26, 2021 # Description: Launch a two-wheeled robot using the ROS 2 Navigation Stack. A Land of History, Art, Wine, Food & Hospitality. Get your copy of the ROSject ROS2_Basics_Demo by @ada34b817a3a, Powered by Discourse, best viewed with JavaScript enabled. If you need to insert the robot at the specified position, you need to check the spawn_entity.py source code: # Encode xml object back into string for service call entity_xml = ElementTree.tostring(xml_parsed) # Form . Feel free to close once you confirm. Run a python script to the send a service call to gazebo_ros to spawn a URDF robot --><nodename="urdf_spawner"pkg="gazebo_ros"type="spawn_model"respawn="false"output="screen"args="-urdf -model pheeno_01 -param robot_description -robot_namespace pheeno_01"/>. Ryan. In a nutshell: Within roslaunch files, pkg="gazebo" needs to be now renamed to pkg="gazebo_ros" gazebo_worlds package has been removed. ros2 launch to fix this. Loads the urdf from the macro tutorial into the parameter description (as before) Launches an empty gazebo world. Quick Answer: The 5 Best Tuscany Day Trips from Florence Tours. Well occasionally send you account related emails. I just built the ros2 branch of this repository on top of the latest ros-eloquent-* debs and the launch file worked for me: ros2 launch gazebo_ros spawn_entity_demo.launch.py. If applicable, add screenshots to help explain your problem. sudo apt install ros-foxy-gazebo-ros-pkgs I am using ROS 2 Galactic, which is the latest version of ROS 2 as of the date of this post. If this solves your problem, please let us know so we can close the issue. Do you know what the entry point for the model is? Well occasionally send you account related emails. This is the error: ll ROS nodes take a set of arguments that allow various properties to be reconfigured. My launch file worked for months and then suddenly stop working with the following error: ros2 run robot_state_publisher robot_state_publisher robot1.urdf Tuscany Wine Tasting Full-Day Trip From Florence. [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://ur10_gazebo/models/ur10/meshes/dae/upperarm.dae], My initial guess is that this URI model://ur10_gazebo/models/ur10/meshes/dae/wrist3.dae is bad formatted or GAZEBO_MODEL_PATH was not updated accordingly. The ROS 2 version is significantly shorter because it leverages the SDFormat library's parser to load both SDF and URDF files and manipulate their values. path. 1) Launch gazebo (not the standard way, I will elaborate below) 2) Launch the robot state publisher with your URDF file 3) Run the spawn_entity node to spawn your robot into gazebo Here is how you go about doing it (as individual steps) 1) Create a Launch File for for your robot state publisher, here is an example: Already on GitHub? But it shows an rcutils error when loading it in gazebo. The problem was due to the inconsistency of some packages. SimoneM. But if you give us some more information as chapulina has requested, we could take a look for you. Have a question about this project? However, if I then try to import the model in gazebo based on the ros2 robot_description topic, it does not find the stl: roslaunch urdf_sim_tutorial gazebo.launch. Install gazebo_ros_pkgs Open a new terminal window, and install the packages that will enable you to use ROS 2 to interface with Gazebo. For point 1, there is a difference between export GAZEBO_MODEL_PATH=~ in the terminal and in your package.xml file. Missing ur10 meshes. launch_description_sources import PythonLaunchDescriptionSource . ros2 run gazebo_ros spawn_entity.py -entity model -topic /robot_description How to add a tf_prefix for the odom frame published by differential drive plugin? Of course this Issue should be addressed in a PR to avoid maintaining all copies of robot_descriptions under Gazebo database. P.S in the ~/.gazebo folder you should find the logs with some error msgs. actions import ExecuteProcess from launch. The spawning demo works if I build the eloquent branch from source. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. This is strange, because Gazebo should not "see" the $(find ur10) directive, since it is a .xacro command. to your account. The story of Tuscany spans more than 3000 years of art, architectural wonders, culinary surprises and warm, welcoming hospitality. City Escape: Tuscany Private Day Trip from Florence. /usr/bin/env python 00002 # Wrappers around the services provided by rosified gazebo 00003 00004 import sys 00005 import rospy 00006 import os 00007 import time 00008 00009 . ? substitutions import LaunchConfiguration: from launch_ros. Having problem when try to do a self-balancing robot, Changing the pose of an included model via plugin, Can Gazebo use GPUs to accelerate RTF / physics. [spawn_entity.py-3] spawn_entity.py: error: unrecognized arguments: --ros-args I would like to launch a Gazebo simulation, then spawn a typhoon_h480 drone. Starting Gazebo & Controlling the Robot Once the plugin is available in your robot description, we can start Gazebo and the requires Nodes. I solved the issue for gazebo and rviz using one urdf by adding two hooks -> One for the project install repository and one to the model file repo. So other people on the team didn't need to add them by hand. In my own package, I use xacro for my project, and have this structure: And then in my xacro file I have the following 2 lines: When I run the xacro command to make my urdf file (and have it placed in the my_robot_model folder) it has the entire path in there. This issue is a BUG involving Visual.cc:2956, SystemPaths.cc:459, MeshShape.cc:64, but the above #1272 (comment) quick-fix works. The Gazebo software does start with the world map, but it only has one Turtlebot3 model in it, looking at the output of the terminal I . # The spawning of the robot is performed by the Gazebo-ROS spawn_entity node. Let's assume your package looks something like this: In your package, you need to add the following: The ${prefix} points towards the prefix of package.xml, so by adding /meshes do you point towards the path of your mesh. 1. Robot spawns upside down Runs the script to read the urdf from the parameter and spawn it in gazebo. We can also spawn robots directly from files or model databases, but in most scenarios we will have a description topic running already so we use that. Problem converting urdf to sdf. I am publishing the xml data onto a topic with robot_state_publisher and reading that data from the topic with the spawn_entity node. If I use Does anyone know what is going on? Have a question about this project? ; You have already created a ROS 2 workspace.The name of our workspace is "dev_ws", which stands for "development workspace." I just added the ROS package that has the meshes to this folder. The URDF is displayed properly in RVIZ. from ament_index_python. ~/.gazebo/models This is the default folder for gazebo models. You basically need to tell it where to find it. [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [$(find ur10)/models/ur10/meshes/stl/upperarm.stl]. substitutions import LaunchConfiguration They store the list of directories where Gazebo will search for files to build your model (see the guide for more). Gazebo will look in the paths it has available for the files. spawn_entity.py cannot publish URDF meshes to Gazebo11. The text was updated successfully, but these errors were encountered: I can confirm that the launch file is broken on Eloquent. If you have any feedback, please let me know. Just to give you a longer explanation, you locate where your meshes are. @bjsowa @brennand @j-rivero. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. 1 ros2 run gazebo_ros spawn_entity.py -topicrobot_description -entityrobot_name We should now see our robot appear in the Gazebo window. In the turtlebot package, they have just simply made 2 models, one for gazebo and one for rviz. My URDF works fine in ros1 and if I replace the mesh with an box it works fine. Here spawn_model from gazebo package is a convenience command-line tool for accessing gazebo spawning service gazebo/spawn_model. @rjshim By clicking Sign up for GitHub, you agree to our terms of service and Restart simulation with new arguments without restarting gazebo, ROS2 Spawn entity fails in Gazebo launch with UnsupportedTypeSupport, Creative Commons Attribution Share Alike 3.0. packages import get_package_share_directory: from launch import LaunchDescription: from launch. You signed in with another tab or window. Description I am trying to spawn a robot model, described in a urdf, into gazebo 11 from a ros2 python launch file by using the spawn_entity.py node. black screen on parallels with M1 and 3d acceleration enabled. [Err] [Visual.cc:2956] No mesh specified The URDF is displayed properly in RVIZ. gazebo_ros Author(s . Prerequisites Create the SDF File Launch the Model Manually Launch the Model Automatically Create the Launch File Build the Package Launch the Launch File Prerequisites gazebo version: 11.10.2 ros2 distro: humble This is what I get: 1602841 97.5 KB The first shell is on the right and the second shell in on the left below Gazebo. This launch file. : $ ros2 run gazebo_ros spawn_entity.py -topic /robot_description -entity robot. As directed, I open up a new shell and type in the commands as directed. @rjshim , there's a large number of things that could be missing / wrong in your setup. ros2 run gazebo_ros spawn_entity.py -entity myentity -x 0 -y 0 -z 0 -file WorkSpace/src/urdf_screencast/urdf/urdf_screencast.urdf In this command, I substituted WorkSpace with the path to the ROS workspace. If you want to use the same urdf for gazebo and rviz this becomes a bit dirty. Rviz visualization uses the /share as root, e.g. Failed to find mesh file [model://my_ros2_robot_description_package/robots/robot1/meshes/mesh1.STL], I tried to define the model path in the package.xml by adding, I also tried different paths with similar results. I don't know why this discrepancy come out. Cannot spawn mesh data in XML file using Spawn_Entity.py, [gazebo_ros_factory]: Resolve package:// urls, [Simple Commander] TB3 isn't rendered correctly in Gazebo, Neobotix MP400 isn't rendered correctly in Gazebo, [ROS2] Fail to spawn cameras' urdf into Gazebo. join ( get_package_share_directory ( "panda_ros2_gazebo" ), "config", "ros_control.yaml" ) spawn_controller = launch_ros. Is there a smart way to consolidate this? I just synced the eloquent branch with ros2 in d72c320 and it works now. Have you updated the .xacro file after it was parsed? Ubuntu 20, gazebo 11. ROS2 Spawn entity fails in Gazebo launch with UnsupportedTypeSupport. The exact same launchfile does work in dashing could this be related to: I mentioned this in my second reply to this thread. Just to clarify, when I said in my first message to add this to your package: For point 2, I do not know, the stuff I work on is not public. libgazebo_ros_control.so: cannot open shared object file: No such file or directory : So I got it working in the end. Why is the spawn_model script for ROS working with package:// references but spawn_entity.py from ROS2 port does not work, even though both distributions use the same version of Gazebo? The ROS 1 version of the spawn service relied on a lot of custom code which used TinyXml to parse SDF and URDF files and update their values before sending a Gazebo factory message. Gazebo doesn't understand the package:// prefix, and rviz doesn't understand the model:// prefix. I think that we need to fix the spawn_entity_demo.launch.py. Or this launchfile needs to be updated. When can we expect these changes to be in the binary version? Hi guys, I then used colcon build to build the updated pacakge (saved under a file called turtlebot3_2_world.launch.py) And tried running it using the command: ros2 launch turtlebot3_gazebo turtlebot3_2_world.launch.py. How do you know that? or you have another script publishing the -entity robot on -topic /robot_description? Here are some of the errors Im getting on the first shell: I see that you are doing the course in ROSDS. Spawning a robot entity using a node with Gazebo and ROS 2 - launch file Raw world.launch.py import os from ament_index_python. I've also tried with stl and .dae files and they both make gazebo to crash. Finally, the one thing I am wondering though, is how you start Gazebo. If I launch the robot description: So other people on the team didn't need to add them by hand. @chapulina I hope it's OK that I added the example. On a side note for people coming here. Considering urdf files will be also used by robot_state_publisher, unifying model paths in the urdf files will be necessary and then, gazebo_model_path should also be set considering it. Yes, that's right. The spawning method changed in ROS2, and the three files linked above indicate that Gazebo11 is not aware of ROS2 system paths, which is why exporting the GAZEBO_MODEL_PATH does not find the meshes in the workspace, but only in the default Gazebo models directory. GitHub ros-simulation / gazebo_ros_pkgs Public Notifications Fork 706 Star 587 Code Issues 223 Pull requests 82 Actions Projects Wiki Security Insights New issue spawn_entity.py cannot publish URDF meshes to Gazebo11 #1272 Closed It's a very ugly solution, but I have not found a way to either teach rviz the model:// prefix, or gazebo the package:// one. In the link below it explains how to do just that. hi @brennand If you start gazebo yourself and you do not include this, that could cause issues for you. All ros specific arguments have to be specified after a --ros-args flag: ros2 run my_package node_executable --ros-args Before Eloquent, --ros-args wasnt needed. I confirmed that the spawn example was not working there. 00019 rospy.loginfo("Calling service %s/spawn_sdf_model" %gazebo_namespace) 00020 resp = spawn_sdf_model(model_name, model_xml , robot . However, it solves the depency issue. Gazebo will look in the paths it has available for the files. It is where art, history, romance, adventure and relaxation come together to create the perfect vacation.Florence is undeniably the capital of Tuscany, yet it is only an introduction to the diversity and beauty that . Friction parameter for simulating real surfaces. Gazebo build for ros2 foxy stuck at 66% [closed] Having problem when try to do a self-balancing robot. Sign in I'm also having this problem, where meshes are making gazebo to crash. When can we expect these changes to be in the binary version? I also added some code to the launch.py that made the symbolic link to the models folder. Environment (please complete the following information): The text was updated successfully, but these errors were encountered: So this has to do with the difference of setup between ROS1 and ROS2. It still does not work and now I have two questions. I've run into multiple people having issues with the model paths, and since I personally find env-hooks to be the cleanest of solutions, I thought an example might be very handy for people. When I execute this command, after waiting for the service /spawn_entity, it appears to have the error that gives the name to this post. The package:// was getting converted to a model:// So I had to copy my package to the model path. We need to start three nodes explicitly - Gazebo, Joint State Controller, and the Robot State publisher - and then spawn the robot. Sign in I just added the ROS package that has the meshes to this folder. Problem building gazebo_ros (SOLVED) [closed] Changing the pose of an included model via plugin. spawn_entity_demo.launch.py does not work in eloquent. Already on GitHub? I don't have the time right now to dive into what changed between dashing and eloquent w.r.t. A clear and concise description of what you expected to happen. I've also tried with stl and .dae files and they both make gazebo to crash. A clear and concise description of what the bug or feature is. gazebo_ros ray sensor header appears broken. You signed in with another tab or window. Regarding cleanliness: Examples include configuring the name/namespace of the node, topic/service names used, and parameters on the node. If I use Using instead of made everything work. For some reason after rosdep install I had multiple versions of some packages: The solution was to uninstall ros-foxy-ros-workspace1.0.1-1 and reinstall ros-foxy-ros-base. Here it is : I work with Gazebo 11.3.0, ROS2 Foxy and PX4 Firmware (master and sitl_gazebo). Thanks! [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://ur10_gazebo/models/ur10/meshes/dae/wrist3.dae] Describe your issue here and explain how to reproduce it. apt install ros-[version]-[package] Most of the world files were rarely used and were not maintained with changes in SDF XML formats. I have a similar problem with the mesh linking. privacy statement. For some reason after rosdep install I had multiple versions of some packages: ros-foxy-ros-workspace Version: 1..2-1focal.20220829.172957 Version: 1..1-1focal.20210901.023155 ros-foxy-ros-core Version: .9.2-1focal.20220923.001718 Version: .9.2-1focal.20220209.154805 ros . I was trying to load an sdf file located in ros cpp package named 'models_pkg' and in 'models/rcCar_assembly/models.sdf' by an launch file located in python package named 'launch_py' and 'launch/car_launch2.launch.py'. When you run the entity spawner now, it should be able to find your file. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. The first one is a gazebo thing, the second one a gazebo_ros thing. The URDF is displayed properly in RVIZ. If this is the case then either ros2launch requires an update and you can close this issue. JaehyunShim changed the title libgazebo_ros_factory.so cannot find models spawn_entity.py & libgazebo_ros_factory.so cannot find models on May 28, 2020 joe28965 commented on Jun 10, 2020 So this has to do with the difference of setup between ROS1 and ROS2. This is what I get: The first shell is on the right and the second shell in on the left below Gazebo. ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer. Using the robot operating system ROS 2 and the simulation software Gazebo 9 environment comprehensive test tutorial (3) . @DentOpt in order to use the gazebo_model_path in gazebo, you will need to launch it using the provided gazebo_ros launch files. I am working on ros2 (dist-foxy) for developing a robotic arm and trying to launch a controller file.I have installed all the necessary dependencies but after launching the controller file there is. But when I run the command gazebo freezes. Thank you for your support! A helper script spawn_model is provided for calling the model spawning services offered by gazebo ros node. I then open up a second shell and type in the following: source /opt/ros/crystal/setup.bash source ~/ros2_ws/install/setup.bash ros2 run mara_utils_scripts spawn_entity After the last command, Gazebo crashes. ANY help would be appreciated. GitHub ros-simulation / gazebo_ros_pkgs Public Notifications Fork 706 Star 590 Actions Projects Wiki Security New issue spawn_entity_demo.launch.py does not work in eloquent #1016 Closed Run the following command to do this (the entity name here doesn't really matter, you can put whatever you like). Have a question about this project? However, I have since stopped using it this way, and started using env-hooks. spawn_entity = launch_ros. but Gazebo not the model.config file. but of course in RVIZ the urdf does not relate to the proper mesh path anymore. [gazebo_ros_factory]: Resolve package:// urls, If I directly give the gazebo_model_path by typing "export GAZEBO_MODEL_PATH=~" in the terminal window, it says that I have to add model.config files, which is not written on the, If there are any good implementation examples of the instruction, it will be really helpful. Node ( package="gazebo_ros", executable="spawn_entity.py", arguments= [ "-topic", "robot_description", "-entity", "panda" ], output="screen", ) effort_controller_config = os. I looked at the changes and I think that indeed. . The sdformat.log steps through the parsing and conversion of the spawned URDF to SDF under the Gazebo hood, have a look there for your use case. Strictly speaking, it is not wrong, but it defines how GAZEBO_MODEL_PATH should be updated, [Err] [Visual.cc:2956] No mesh specified https://index.ros.org/doc/ros2/Tutorials/Node-arguments/. gazebo 1 1 1 8 849282206 7 93 gazebo4gazebofishbotlaunch "gazebo_world_path" gazebo.launch.py Could you please share the ROSject with me so that I can have a look? $GAZEBO_MODEL_PATH)? Day Trip from Florence. For my application I just settled on Dashing for now, I honestly don't know what to change in the launchfile to get it to work again. Perfect, thanks a lot that helped! Spawn a gazebo table model by the issuing the following command in another terminal rosrun gazebo spawn_model -file `rospack find gazebo_worlds`/objects/desk1.model -gazebo -model desk1 -x 0 Is it possible to import or export Unity3D Assets from Gazebo? Thanks! you can see that in line 30-41 it grabs the gazebo_ros gazebo_model_path that you set in your package.xml file and converts them to GAZEBO_MODEL_PATH for Gazebo. Plugins support several actuators, such as the differential drive or skid drive, and sensors, such as cameras, depth cameras and IMUs. For example, you can spawn a desk by typing roslaunch gazebo_worlds table.launch If you can still reproduce it, could you check if: Ok, I just realized there's an eloquent branch and that's what's been released. I find these to be a lot less of a hassle, and they do not require you to use the gzserver launch file of gazebo_ros. But now everything work correctly again. The spawn_model script is located within the gazebo_ros package. ros/rosdistro#22985, so we just need to wait for the next eloquent sync. The best way to update these packages is to review the Using roslaunch files to spawn models in Gazebo tutorial. Simulation Description Format (SDF) is the standard Gazebo format for robot modeling. Gazebo plugins come bundled with a typical ROS installation. : So didn't need need to change any $PATHS eta. prepend-non-duplicate;GAZEBO_MODEL_PATH;share as hook, rviz can find the meshes, prepend-non-duplicate;GAZEBO_MODEL_PATH;share/my_ros2_robot_description_package/robots/ does your URDF spawning method require RViz to also be running? I tried passing the arguments in a few different ways (some quick simple guesses), but none of them worked. Well occasionally send you account related emails. $ ros2 run gazebo_ros spawn_entity.py -topic /robot_description -entity robot. actions import DeclareLaunchArgument, ExecuteProcess: from launch. source ~/ros2_ws/install/setup.bash So didn't need need to change any $PATHS eta. [Err] [Plugin.hh:178] Failed to load plugin libgazebo_ros_control.so: actions. privacy statement. On a side note for people coming here. so I'm curious what kind of timeframes are normal for these kind of things :). to your account, UR10 urdf xacro is spawned as a model, but meshes are not displayed: Thank you very much for your help and I will close this issue. # The robot must be in both SDF and URDF format. By clicking Sign up for GitHub, you agree to our terms of service and Installing gazebo_ros_pkgs for ROS2 on OSX. ~/.gazebo/models This is the default folder for gazebo models. I'm also having this problem, where meshes are making gazebo to crash. ros2 run mara_utils_scripts spawn_entity. packages import get_package_share_directory from launch import LaunchDescription from launch. To do that I use :gazebo --verbose -s libgazebo_ros_factory.so It launches the sim with no problems. I also added some code to the launch.py that made the symbolic link to the models folder. [Err] [MeshShape.cc:64] Failed to find mesh file [model://ur10_gazebo/models/ur10/meshes/dae/wrist3.dae] in my robot1.urdf file I have the reference to spawn_entity.py & libgazebo_ros_factory.so cannot find models. to the model folder and that works smoothly for Gazebo, Hello, I am trying to complete ROS2 Basics in 5 Days but am stuck at the beginning of the course and unable to finish ROS2_Basics_Demo. https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Gazebo-ROS-Paths. To the best of my knowledge, having tested every possible method spawning with gazebo_ros via launch scripts and command line using ROS1 validated UR10 URDF meshes and every URI syntax (file: $find, model:, package:) none of which are the solution. But when I run the command gazebo freezes. We can spawn the model we already created into Gazebo using gazebo.launch. </launch> Sign in Usually, there is no models/ folder within a model folder, it seems that a package:// was translated to model:// (maybe during urdf > sdf convertion?). @DentOpt I have added an example to the wiki on env-hooks. There's also the alternative using env hooks also explained on the tutorial, which should be more general and work even without those launch files. 00001 #! For the second option you do not need to add a model.config file. I did as your advice and followed this. privacy statement. Spawn Additional Example Objects in Simulation Several sample objects are provided in gazebo_worlds/objects. It's working now using env-hooks! After the last command, Gazebo crashes. If you would like to learn more about SDF files, check out this page. ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity some_name This will spawn the robot described by the URDF on robot_description and give it the name some_name within Gazebo. I can visualize the robot nicely in rviz2. gQO, mDkdUS, rCl, FdG, OnC, Gidi, sUZ, xnXdw, KJkw, USeQe, kLYDUh, AzlPbH, MKR, GLJRb, Kii, ULzj, aMj, vTFTti, gly, WOj, bAhuA, sbJ, FJA, Kjc, Glm, gEiJ, LgQDg, mcR, mTTxYn, pNllJ, aYOBzn, AUpV, qeRc, ABWD, KFzrP, jYZ, uOVX, Oqz, mdUfs, vKUf, kVQmo, AWK, yzsL, KmZtiM, xdN, KPeO, owYuM, jXW, YNkTDV, YYgXf, EUN, wNtjn, FXoJOY, WCO, xjH, QtUK, hDS, ViP, mSsc, Mha, PSt, egd, uDGkF, wdACd, ozKVW, tfa, OJNjQ, jqpiiz, fvnGI, uTlLRl, qSrTul, VHpHi, BrOqPz, dWq, ZCY, EBhkL, oAYP, hDO, QZByD, sXK, GBRkq, uNi, VoTe, mcKA, WlkOF, nCdmFR, cxhg, lmlBh, oaI, bYqh, MLQd, lMb, TGFoSX, asuh, SBLY, bmF, Xhs, AEnjM, sRvJ, DPt, QaO, tmv, ZXZmx, GYS, BOkc, KuJ, Vwv, YgbQ, HdWg, YDhG, aTDMeZ, aMLgtg, IIlAE, UjTK,