These are packages for Gazebo to create temporary objects that exist for a certain amount of time.

• flying_disc_description This contains a target object URDF.

• ros_gz_sim_extra This contains "remove" command to remove Gazebo entities. "remove" need "-id" option to detect a target entity. The way to get a target entity's ID is written in "flying_disc_spawner".

• flying_disc_spawner This generates temporary objects by a topic (default "spawn_disc_pose"). The position of the generated object is the position shifted by msg.pose based on the position of the entity whose name is written in msg.header.frame_id. The generated object is removed after "REMAIN_TIME_SEC" defined in "flying_disc_spawner/flying_disc_spawner/spawner.py".