ROS Indigo on Ubuntu 14.04 with Gazebo 7.3 and Python 2.7
I use a Gazebo service to spawn a fixed object in a link reference frame, but the object remains fixed with respect to the world instead of with respect to the frame. Why is this so? Here is the `rospy` code:
def test_robot_attachment():
""" Try attaching an axes model to a robot frame and see what happens """
global attachCounter
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel) # Get a handle to the Gazebo model spawner
modelPath = rospack.get_path('grasp_anything') + '/urdf/block_axes.urdf' # Build a path to the model URDF
f = open(modelPath,'r') # Open the URDF for reading
sdff = f.read() # and read it
rospy.wait_for_service('gazebo/spawn_sdf_model') # Wait for the model loader to be ready
targetPose = ROS_geo_pose_from_lists( [ 0.5 , 0.5 , 0.5 ] , [0,0,0,1] )
spawn_model_prox("axesAttached" + str(attachCounter), sdff, "robotos_name_space", targetPose, "lbr4_allegro::lbr4_7_link") # gen model name and place the axes at the specfied pose
attachCounter += 1
Is there a way to attach a model to a moving frame such that it moves with the frame but is static within the frame itself? As you can see below, the URDF being inserted has no collision geometry, the model is set to static, and gravity is turned off for the model.
Here is "block_axes.urdf":
Gazebo/Red Gazebo/Green Gazebo/Blue true true
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