gazebo_integration

gistfile.py

    spawn_entity = Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=['-entity', 'bluerov2_heavy_alpha_urdf', '-topic', 'robot_description'],
        output='screen'
    )
    
        nodes = [
        ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
                       '-s', 'libgazebo_ros_factory.so'], output='screen'),
        control_node,
        robot_state_pub_node,
        joint_state_broadcaster_spawner,
        spawn_entity,
        delay_rviz_after_joint_state_broadcaster_spawner,
        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
    ]