zhyma / gazebo_shuffle_environment

A sample of changing visual and physical properties of an object (link) in Gazebo

• It is a Gazebo world plugin that monitors a rostopic to change the appearance of the object in Gazebo simulation environment.
• Go to models folder, run python3 move_model.py to copy the model to the default Gazebo model folder.
• Compile workspace.
• In one terminal, run roslaunch env_ctrl test.launch
• In another terminal, run rostopic pub -1 /set_rod_properties env_ctrl/CylinderProperties "{x: .4, y: .0, z: 0.3, r: 0.03, l: 0.1}". Values are arbitrary.