gazebo仿真让物体动起来

如何让turtlebot3的移动障碍物动起来

只需要修改turtlebot3_stage4.launch文件，加入下面这两行。

 <node pkg="turtlebot3_dqn" type ="combination_obstacle_1" name="combination_obstacle_1" output="screen"/>
  <node pkg="turtlebot3_dqn" type ="combination_obstacle_2" name="combination_obstacle_2"  output="screen"/>

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="x_pos" default="-0.7"/>
  <arg name="y_pos" default="0.0"/>
  <arg name="z_pos" default="0.0"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_stage_4.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>  


  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
  <node pkg="turtlebot3_dqn" type ="combination_obstacle_1" name="combination_obstacle_1" output="screen"/>
  <node pkg="turtlebot3_dqn" type ="combination_obstacle_2" name="combination_obstacle_2"  output="screen"/>

</launch>