我添加的是dae模型，urdf文件过两天贴
方法一 ：
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- We resume the logic in empty_world.launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
.主要是修改param标签和调用gazebo的节点的参数值，添加几个模型就添加几对
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(find package_name)/urdf/model.urdf" />
<param name="robot_description_2" textfile="$(find package_name)/urdf/model_2.urdf" /> <!-- push robot_description to factory and spawn robot in gazebo --> <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
<node name="spawn_gazebo_model_2" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description_2 -model robot_2 -z 0.1" respawn="false" output="screen" />
</launch>
方法二：
请教别人得到的另一个方法：直接在urdf文件里添加模型就可以了但是我没弄出来。