Gazebo里动态增加不同模型

1. 下载模型

# 官网
https://github.com/osrf/gazebo_models
mkdir -p ~/.gazebo/models/hammer
# 锤子 	hammer
https://github.com/osrf/gazebo_models/blob/master/hammer/
# 扳手 	monkey wrench
https://github.com/osrf/gazebo_models/blob/master/monkey_wrench/
# 碗 	bowl
https://github.com/osrf/gazebo_models/blob/master/bowl/

2. 启动仿真

ros2 launch ur_simulation_gazebo ur_sim_control.launch.py ur_type:=ur5 launch_rviz:=false

3. 加入模型

gz model --spawn-file ~/.gazebo/models/table/model.sdf -m table -x 1.5
gz model --spawn-file ~/.gazebo/models/hammer/model.sdf -m hammer -x 2.0 -z 1.5
gz model --spawn-file ~/.gazebo/models/bowl/model.sdf -m bowl -x 1.5 -z 1.3
gz model --spawn-file ~/.gazebo/models/monkey_wrench/model.sdf -m monkey_wrench -x 1.2 -z 1.3