1.Create a Models Folder in your Directory(package file) and store the sdf file there. I have created a single Folder named Box inside the Models File
- Models
- Box
- model.config
- model.sdf
- meshes(folder)
- mesh1.dae
- mesh2.stl
- mesh3.stl
below is the info inside present in the all the files.
a. Model.config file
<?xml version="1.0"?>
<model>
<name>Box</name>
<version>1.0</version>
<sdf version='1.6'>model.sdf</sdf>
<author>
<name>name</name>
<email>[email protected]</email>
</author>
<description>This is a box</description>
b. model.sdf<?xml version="1.0" ?>
<sdf version="1.5">
<model name="Box">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<mesh>
<uri>model://box/meshes/mesh1.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://box/meshes/mesh1.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
</visual>
</link>
c. How to use the Launch File in python
Spawn nr2_6dof_arm
spawn_entity = Node(package='gazebo_ros',
executable='spawn_entity.py',
name="spawn_sdf_entity",
arguments=[ '-entity','Box','-file', LaunchConfiguration('sdf_model'),
'-x','1.0',
'-y','1.0',
'-z', '0.0',
'-R','0.0',
'-P','0.0',
'-Y','0.0'
], output='screen')
return LaunchDescription([
sdf_model,
spawn_entity,
])
I hope this will be useful for everyone!!
