ROS spawn urdf or sdf in Gazebo simulation

This repository will help in spawning urdf or sdf file in gazebo using Python, C++ or roslaunch file. This repository also contains different aruco_marker cube's models for detection.

Requirements

• Ubuntu 18.04
• ROS
• Gazebo
• Pyton 2.7
• This code is tested with ROS melodic, can be run in Kinetic and noetic

how to us the repository

• Assuming your universal robot workspace is named as catkin_ws, download the repository to catkin_ws/src/

  $ cd catkin_ws/src
  $ git clone https://github.com/roboticist8/ros_gazebo_spawn_models.git
  

• Build the code under directory catkin_ws/,

  $ catkin_make
  $ source devel/setup.bash  
  

• Run a gazebo simulation

  $ roslaunch gazebo_ros empty_world.launch
  

• To spawn using launch file

  $ roslaunch spawn_urdf_sdf spawn.launch
  

• To spawn urdf using python

  $ rosrun spawn_urdf_sdf spawn_urdf.py
  

• To spawn urdf using c++

  $ rosrun spawn_urdf_sdf spawn_urdf
  

• Similarly for sdf or model file

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

Please make sure to update tests as appropriate.