def spawn_model(model_name):
""" Spawns a model in front of the RGBD camera.
Args: None
Returns: None
"""
initial_pose = Pose()
initial_pose.position.x = 0
initial_pose.position.y = 1
initial_pose.position.z = 1
# Spawn the new model #
model_path = rospkg.RosPack().get_path('sensor_stick')+'/models/'
model_xml = ''
with open (model_path + model_name + '/model.sdf', 'r') as xml_file:
model_xml = xml_file.read().replace('\n', '')
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
spawn_model_prox('training_model', model_xml, '', initial_pose, 'world')
training_helper.py 文件源码
python
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