How Do You Add a Model to a Gazebo?

Adding models to your Gazebo simulation environment is a fundamental step for creating realistic and functional worlds. The primary method within the Gazebo graphical interface is through the 'Insert' tab.

Inserting Models in Gazebo

The most straightforward way to add a model is by using the Gazebo GUI itself. This method allows you to quickly bring in pre-defined models or models from online repositories.

Here's the basic process:

• Find the Insert Tab: Look for the Insert tab on the left side of the Gazebo simulator window.
• Browse Models: Within the Insert tab, you'll find various model categories. These often include primitive shapes, common objects, and sometimes models from online sources like the Gazebo Model Database.
• Select and Insert: Click on the model you wish to add to your simulation. It will typically appear near the origin of your world. For example, as mentioned in the reference, you might insert a Simple Arm.
• Position the Model: Once inserted, you can use the translation and rotation tools in Gazebo to move and orient the model in your world.

Modifying an Inserted Model

After inserting a model, you might want to inspect or modify its properties.

• Edit Model: A common next step is to right-click on the model you just inserted and select Edit Model. This opens the model editor, allowing you to modify links, joints, plugins, and other aspects of the model definition.

Other Ways to Add Models

While the Insert tab is quick for adding existing models, you can also add models by:

• Defining Models in the World File: You can manually specify models and their poses directly within your Gazebo world (.world) file using SDF (Simulation Description Format).
• Loading Models from a Directory: Gazebo searches for models in specific paths (defined by the GAZEBO_MODEL_PATH environment variable). Placing your custom model files in one of these directories makes them discoverable and potentially insertable via the Insert tab or loadable via a world file.
• Using Code: Programmatically add models using Gazebo's C++ or Python APIs, often within plugins or external nodes that interact with the simulation.

Understanding these methods provides flexibility in populating your Gazebo worlds with necessary objects and robots. The Insert tab offers a user-friendly starting point for quickly adding models from available sources.