ROS: launching GAZEBO and adding your robot (7 of …)

Launch gazebo:

roslaunch gazebo_ros empty_world.launch

Add (spawn) your robot in gazebo:

• First create the file for the robot that will be spawn in gazebo:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find m2wr_description)/urdf/m2wr.xacro'" />
    
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0.5"/>
    
    <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
          args="-urdf -param robot_description -model m2wr -x $(arg x) -y $(arg y) -z $(arg z)" />
          
</launch>

• Spawn the robot:

catkin_ws/roslaunch motor_ros spawn.launch

• Spawn robot with controller:

catkin_ws/roslaunch motor_ros my_motor_ros.launch

• If error “context mismatch in svga_surface_destroy”:

echo "export SVGA_VGPU10=0" >> ~/.bashrc

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