show collision box object in gazebo

launch/sample_constraint_simulation.launch

@@ -23,6 +23,8 @@
     <!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
 
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
+    <param name="box_description" command="$(find xacro)/xacro --inorder $(find sample_applications)/models/box.xacro"/>
+    <node name="spawn_object" pkg="gazebo_ros" type="spawn_model" args="-param box_description -urdf -model box"/>
 
     <!-- Load joint controller configurations from YAML file to parameter server -->
     <rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />

models/box.xacro

+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="simple_box">
+    <link name="object_base_link">
+    </link>
+
+    <joint name="object_base_joint" type="fixed">
+        <parent link="object_base_link"/>
+        <child link="object_link"/>
+        <axis xyz="0 0 1" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <link name="object_link">
+        <inertial>
+            <origin xyz="0.4 -0.2 1.0" />
+            <mass value="1.0" />
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
+        </inertial>
+        <visual>
+            <origin xyz="0.4 -0.2 1.0"/>
+            <geometry>
+                <box size="0.4 0.1 0.4" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.4 -0.2 1.0"/>
+            <geometry>
+                <box size="0.4 0.1 0.4" />
+            </geometry>
+        </collision>
+    </link>
+
+    <gazebo reference="object_base_link">
+        <gravity>0</gravity>
+    </gazebo>
+
+    <gazebo reference="object_link">
+        <material>Gazebo/Blue</material>
+    </gazebo>
+</robot>
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