我新增的是dae模型，urdf檔案過兩天貼

　　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標籤和呼叫gazebo的節點的引數值，新增幾個模型就新增幾對

<!-- 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：

請教別人得到的另一個方法：直接在urdf檔案裡新增模型就可以了但是我沒弄出來。