ROS * 通过launch文件添加多个模型

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我添加的是dae模型，urdf文件过两天贴

　　方法一 ：

<launch>
    <!-- these are the arguments you can pass this launch file, for example paused:=true -->
    <arg name="paused" default="false"/> <arg name="use_sim_time" default="true"/> <arg name="gui" default="true"/> <arg name="headless" default="false"/> <arg name="debug" default="false"/> <!-- We resume the logic in empty_world.launch --> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="debug" value="$(arg debug)" /> <arg name="gui" value="$(arg gui)" /> <arg name="paused" value="$(arg paused)"/> <arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="headless" value="$(arg headless)"/> </include>

 

.主要是修改param标签和调用gazebo的节点的参数值，添加几个模型就添加几对

 

    <!-- send robot urdf to param server -->
    <param name="robot_description" textfile="$(find package_name)/urdf/model.urdf" />
    <param name="robot_description_2" textfile="$(find package_name)/urdf/model_2.urdf" />
    <!-- push robot_description to factory and spawn robot in gazebo -->
    <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
        args="-urdf -param robot_description -model robot -z 0.1"
        respawn="false" output="screen" />
    <node name="spawn_gazebo_model_2" pkg="gazebo_ros" type="spawn_model"
        args="-urdf -param robot_description_2 -model robot_2 -z 0.1"
        respawn="false" output="screen" />

 

</launch>

 

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方法二：

请教别人得到的另一个方法：直接在urdf文件里添加模型就可以了但是我没弄出来。

转载于:https://www.cnblogs.com/HY12345/p/10008146.html