Gazebo檄器人仿真擘曾探索^^

（二）基本使用^明

在完畢Gazcbo7安裝彳交需要熟悉Gazebo,方便之彳菱使用。

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gazebo

.relaybot@?relaybot-desktop:*

?'|rdaytx>t@re<aybo<-de$ktop:、8(h2

r?layb4t9r?laybot-d?sktop：'$fti?bo

Gazebo7自帶了很多情建好的璟境模型,可以直接使用，迨些模型位置和安裝路彳整相I嗣:

[h(ml]viewp1aincopyprint?在CODE上查看代碼片派生到我的代碼片

relaybot@re1aybot-desktop:~$1s/usr/share/gazebo-7/wor1ds/

actor,worldpioneer2dx.world

b1ank.worIdplane_demo.worId

camera.worldplugin.world

cart_demo,wor1dpoly1ine.worid

cessna_dcnio.wor1dpopulation,worid

contact.worldpr2.wor1d

depth_camera.worldpresentation.world

elevator.wor1dpressure_sensor.worId

empty_l_O.wor1dprojector.worId

empty_bullet.worldquad_rotor_denio_2.world

cmpty_sky.worldquad_rotor_dcmo.worId

empty.worldrandom_velocity.worId

everything.wor1dray_cpu.world

f1oeking.worldray_noise_plugin.worId

force_torque_demo.wcrldroad_textures.world

friction_demo.wor1droad.world

gripper.wor1drobocupO9_spl_fieId.wor1d

heightmap_deni.wor1drobocup14_spl_field.wor1d

heightmap.worldrobocup_3Dsim.worid

hydra_demo.worIdrubble.world

imu—demo.worldseesaw.worid

inItial_velocity.worIdshapes_bitmask.wor1d

joint_damping_demo.wor1dshapes_layers.world

joint_friction_demo.worldshapes.world

joints,worIdsim_events.world

Iift_drag_demo.worIdsimple_arm.worid

lights,worIdsimple_gripper.wor1d

1inear_battery_demo.worldsingle_rotor_demo,wor1d

logical_camcra.worldsonar_dcmo.world

magnetometer.worldsphere_at1as_demo.world

mud_bitmask.woridstacks.worId

mud.worldtimer_gui.worId

multi1ink_shape.worldtorsional_friction_demo.wor1d

nestedmodel.woridtransporter.world

opena1.worldtrigger,world

ortho.wor1dtwinrotordemo.worId

osrfe1cvator.wor1dunderwatcr.wor1d

pioneer2dx_camera.worldwillowgarage.world

pioneer2dx_1aser_camera.worIdwireless_sensors.worId

pioneer2dx_1aser.worId

在ubuntu下默B1忍的路彳圣篇:/usr/share/gazebo—7/wor1ds/。

0-relaybot@)relaybot-<iesktop:~

?*Irddybot@re<ayt)ot-de$ictop:*80x44

r?l>ybot(|r?laybot'dtsktepz'S1$/usr/sh*r?/gazebo

gazebo//

rtl?ybo!^rel?ybotdesktop:"!U/u?r/*h?r</9azebo-7/world?/

actor.worldpion??r2dx.world

blank.worldplan*d??o.world

CMMrra.worldplugin.world

cartworldpolyUn*.world

cmaworldpopulation.worId

contact.worldpr2.world

depthc?aerA.worldpresentation.world

elevator.worldpr?$sur?i*n?or.world

Fpty10.worldprojector.world

esptybullet.worldquadrotordeao2.world

e,nptysky.worldquadrotord??o.world

empty.worldrando*velocity.world

?v?rything.worldr?ycpu.world

flocking.worldrjtynois*plugin.world

fore*torque癡so.worldroadtextures.world

frictionde?4.worldroad.world

gripper.worldrot>ocup?9>plfivld.world

heiQhtaapdea.worldrobocupl4splfi?ld.world

hrightftap.worldroboeupSDsia.world

hydrad^ira.worldrubble.world

lawd—.world$osaw.world

initialvelocity.world$hap?$bitBASk.world

jointdxpingde?o.worldshapeslayers.world

jointfrictiond??o.worldshap?1.world

)oints.worldSia?vents.world

liftdr”worldsiapl?ar?.world

llQhtl.world?iapl?9ripp?r.world

linearbatteryd<?o.worldsinglerotordeao.world

l?9icalCM?r?.wo<Idsonard??o.world

a?9n?tomt?r.worldsphereatl?$deo.world

?udbitMsk.worldstacks.world

sud.worldti??rQui.world

suitilinkshape.worldtorsionalfractiondeao.world

nestedaod?l.worldtransporter.world

op<?n3l.worldtrig9?r.world

ortho.worldtwinrotord??o.world

osrfelevator.worldunderwater.world

pione?r2dxcMera.worldwillow9?ra9?.world

pioneer2dxlaitrcaaterd.worId1$?n$or$.world

pion??r2dx1”.「.world

1

普重力一倜示例，如下:

[html]viewplaincopyprint?在CODE上查看代碼片派生到我的代碼片

/usr/sharc/gazcbo—7/worlds$gazebolift_drag_demo.worId

<sky>

<c1ouds>

<speed>12</speed>

</clouds>

</sky>

</scene>

<!-Agloballightsource->

<include>

<uri>mode1://sun</uri>

</incIude>

<!--Agroundplane-->

<include>

<uri>mode1://ground_plane</uri>

</inc1udc>

</world>

</sdf>

注意道他璟境中，天空中只有雪彩速度舄12,埸景中遢有光源和大地。

普勤一倜帶有械器人模型的璟境：

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/usr/share/gazebo-7/worlds$gazebopioneer2dxjaser_camera.worid

[h(milviewplaincopyprint?在CODE上查看代碼片派生到我的代碼片

<?xmlversion="1.0"?>

<sdfversion="1.5">

<worldnamc="defaultH>

<!--Ground—>

<include>

<uri>m(xle1：//ground_Dlane</uri>

</inc1ude>

<!--Ag1oba11ightsource—>

<inc1ude>

<uri>model://sun</uri>

</include>

<!"Pioneer2dxmode1-->

<modclnainc="pionecr2dx">

<include>

<uri>model://pioneer2dx</uri>

</include>

<include>

<uri>model：//hokuyo</uri>

<pose>0.20.38000</posc>

</include>

<include>

<uri>mode1://camera</uri>

<pose>0.20,300()</pose>

</include>

<jointname="cameraJoint"type="revolute">

<parent>pionccr2dx：:pionccr2dx::chassis</parcnt>

<child>pioneer2dx::camera：：link</child>

<axIs>

<xyz>001</xyz>

<1ower>0</lower>

<upper>0</upper>

</axis>

</joint>

<jointname="laser_joint"type="revolute">

<parent>pioneer2dx::pioneer2dx:：chassis</parent>

<chi1d>pioneer2dx::hokuyo::1ink</child>

<axis>

<xyz>001</xyz>

<limit>

<lower>0</lower>

<upper>0</upper>

</1imit>

</axis>

</joint>

</model>

</world>

</sdf>

參考上述模板，可以摯留璟境文獻，重要由大地，光源，檄器人模型，械器人模型涉及本艘.激光

和掘像等具饋配置。

除此之外，遐有gzserver和gzcliento

gazebo命令事實上運營兩個不同的可執(zhí)行文獻。第一個稱為gzserver,第二個稱為gz

cliento

gzserver可執(zhí)行程序運營物理更新循環(huán)和傳感器數(shù)據(jù)生成。這是Gazebo的核心，可以

獨立于圖形界面使用。您也許會在論壇中看到“runheadless”這個短語。這個短語相

稱于只運營gzservero一個示例用例將涉及在不需要用戶界面的云計算機上運營gzse

rver。

gzclient可執(zhí)行文獻運營基于QT的用戶界面。此應用程序提供了一個很好的可視化的模

擬，并在各種模擬屬性方便的控制。

常然,造雨偃?可以分別普勤。

gazebo使用的快捷維：

ActionOperationInstruction

MODE

EntcrSclcctionmode(dcfaultmodegEscopressEscformodetoselectmodelsand

right-clickforcontextmenu

EnterRotatemoder。press"r"forRotate(model)mode

EnterTransiatemode”。press"t"forTranslate(mode1)mode

EnterSealemodespress"s"forScale(model)mode

EnterSnapmoden。press"n"forSnap(model)mode

M0DELS

DeletemodelDelete?pressDeletewhenainodelisse1ectedtode1etefrom

scene

CopymodckCtrl+c叩ressCtrl+"c"whenmodclisse1cctedtocopy

PastemodebCtrl+vpressCtrl+"v"topastecopiedmode1

MANIPULATINGMODELS

Rolatemodehrpress"r"forRo(atemode;c1ickmode1&rotateusingma

rkers

Trans1atemodel”pressut"forTrans1atemode;clickmode1&trans1

ateusingmarkers

Sea1emode1ospress"s'*forSca1emod。；clickmodel&sca1e

usingmarkers

Constraina1ongaxis?x/y/zhoIdkeywhilemanipulatingmodelto

constrainmovementalongthataxis

Snapto45°whenrotatingCtrl+dragoholdCtr1whi1erotating

modeltorotatein450increments

Snap(ogridwhenirans1atingCtrl+drag。ho1dCtrlwhiletranslatingmodel

tosnaptogrid

SnaptoImwhenscalingCtrl+dragho1dCtrlwhilescalingmod

etosca1ein1mincrements

Snapwheninserting?Ctrl+drag^holdCtrlwhileinsertingmodeltoenable

snaptogrid

Snapmodelstogethernpress"n"forSnapmode;cIickonelink,t

henasecondtosnapfirstlinktosecond

GUILAYOUT

Hidetoo1bars?Ctrl+hhide/sho\vtoptoolbarandbottomtime

pane1

Enterful1screen<>F1benter/exitfu11screen

Ac(ionOperationInstruetion

EDITORS

OpenModelEditoraCIr1+maopenModelEditortoconstructoreditm

odels

OpenSchematicView(ModelEdi(or)Ctrl+eopenSchematicView

inMode1Editor

OpenBui1dingEditor?>Ctrl+NopenBuildingEditortoconstructbui

Idings

Showf1oorplan(BuiIdingEditor)foshow/hidef1oorplaninBui1

dingEditor2DView

Showbuildingfeatures(BuildingEditor)。g。show/hidebuildingfea

turesinBuildingEdit□r2DView

Newcanvas(bothEditors>Ctr1+ncreatenewcanvas

Savemodel(bothEditors)eClrl+ssavemode1forIateruse

Saveas(bothEditors)&Ctrl+Shift+ssavemode1for1ateruse&gi

veitaname

Exit(bothEditors)?Ctrl+x?exitEditor

WORLD

SavcworldCtr1+spressCtrl+"s"tosaveworidforlatcrus

e

SaveasCtil+Shift+s。pressCtrl+Shift+"s"tosaveworidfor

lateruse&giveitaname

Resetwor1dCtr1+rpressCtr1+"r"toresetworldtoit

sorigina1state

ResetmodelposesClr1+Shift+r?pressCtr1+Shift+"r"toreset

modeIstotheiroriginalposes

DATA

Visua1izctopicsCtrl+hopcndia1ogwiIhlistoftopicscurrcntly

advertized

LogdataCtrl+dopendia1ogtorecordlogfiles

MISCELLANEOUS

QuitGazeboCtri+qpressCtrl+"q"toquitGazebo

Gazebo鼠襟控制

埸景視角改燮

Drag=rotate

Drag

Double-click

注意道衷gazeb。加不能輿ROS通尚心假如需要可以使用下面命令:

[him1]viewplaincopyprini?在CODE上查看代碼片派生到我的代碼片

rosrungazebo_rosgazebo

rosrungazebo_rosgzserver

rosrungazebo_rosgzc1ient

rosrungazebo_rosspav/n_mode1

rosrungazebo_rosperf

rosrungazebo_rosdebug

普勤彳菱可以看到：

[html]viewplaincopyprint?在CODE上查看代碼片派生到我的代碼片

?$rostopicIist

/clock

/gazebo/link_states

/gazcbo/model_states

/gazebo/parameter_descrip(ions

/gazebo/parameter_updates

/gazebo/set_link_state

/gazebo/set_model_state

/rosout

/rosout_agg

具隙在之彳炎肇言口中再衲充。

附件：官^教程。

RunGazebo

ThesethrcestepswillrunGazebowithadefauitworld.

Insta11Gazebo.

OpenaterminaI.OrmostUbnntnsystemsynucanpressCTRL+ALT+t

StartGazebobyen(eringthefo11owingat(hecommandprompt.

gazebo

RunGazebowitharobot

Let'ssimulatesomethingabitmoreinterestingbyloadingaworldwith

apionccr2dx.

Openaterminalandenterthefb11owingcommand.

gazeboworIds/pioneer2dx.world

Wherearethewor1dslocated?

YoumayhavenoticedthemysteriousworIds/pioneer2dx.worid

argumentintheabovecommand.Thisinstructsgazebotofindthepi

oneer2dx.woridfi1e,and1oaditonstart.

Wor1dfi1esarelocatedinaversionedsystemdirectory,forexample/

usr/share/gazebo-7

onUbuntu.IfyouhavcGazcbo7.0installedonUbuntu,inaterminaltype

thefollowingtoseeacompletelistofworlds.

Is/usr/share/gazebo-7/worlds

ForaGazebo7.0insta11ationonOSXusingHomebrew,typethefcHow

ingtoseeacomp1etelistofwor1ds.

Is/usr/loca1/share/gazebo-7/worlds

Clientandserverseparation

Thogazebo

commandactua1lyrunstwodifferentexecutablesforyou.Thefirstiscalle

dgzserver,andthesecondgzc1ient.

Thegzserver

executablerunsthephysicsupdate-1oopandsensordatageneration.Thisisth

ecoreofGazebo,andcanbeusedindependentlyofagraphicaIi

nlerface.Youmayseethephrase"runheadless"thrownaboutinthe

forums.Thisphraseequatestorunningonlythegzserver.Anexamp1

eusecasewou1di11volverunninggzserveronac1oudcomputerwherea

userinterfaceisnotneeded.

Thegzc1ient

executablerunsaQTbaseduserinterface.Thisapp1icationprovides

anicevisualizationofsimulation,andco.netnvenientcontroIsovervarioussim

ulationproPerties.

Tryrunningeachoftheseexecutables.Openaterminalandruntheser

ver:

gzserver

Openanotherterminalandrunthegraphicalclient：

gzclient

AtthispointyoushouldsectheGazebouserimerface.Yourcstartthegzclicnt

applicationasoftenasyouwant,andevenrunmultipleinterfaces.

ThIspagedescribeseachoftheitemsinvolvedinrunnIngaGazebos

imulation.

WorldFiles

Thewor1ddescriptionfilecontainsaHtheelementsinasimulation,in

cludingrobots,1ights,sensors,andstaticobjects.Thisfileisfor

mattedusingSDF(SimulationDescriptionFormat)?andtypicallyhas

a.wor1d

extension.

TheGazeboserver(gzserver

)readsthisfiletogenerateandpopu1ateaworId.

AnumberofexampleworldsareshippedwithGazebo.Theseworldsare1

ocatedin<install_path>/share/gazebo-<version>/wor1ds

ModelFi1es

AmodelfileusesthesameSDFformataswor1dfiles,butshouldonlyconta

inasing1c<model>...</modcl>

.ThepurposeofIhesefilesistofacilitatemodelreuse,andsimplifywor1dfi1es.

Oneeamodelfileiscreated?itcanbeineludedinaworldfileusingthe

followingSDFsyntax:

<inc1ude>

<uri>model://model_fi1e_name</uri>

</include>

Anumberofmodelsareprovidedintheonlinemode1database(inpreviousve

rsions,someexamp1emode1swereshippedwithGazebo).Assumingthat

youhavcanIntcrnctconncctionwhenrunningGazcbo,youcaninsertany

mode1fromtheda(abaseandthenecessarycontentwillbedown1oaded

atruntime.

EnvironmentVari￡bles

Gazebousesanumberofenvironmentvariablestolocatefiles,andsetupcommu

nicationsbetweentheserverandclients.

StartingwithGazebo1.9.0,defaultvaluesthatworkformostcasesare

compi1edin.Thismeansyoudon'tneedtosetanyvariables.

Herearethevariab1es:

GAZEBO_MODEL_PATH

：colon-separatedsetofdirectorieswhereGazebowillsearchformo

dels

GAZEBORESOURCEPATH

colon-separatedsetofdirectorieswhereGazebowi11searchfo

rotherresourcessuchasworidandmediafi1es.

GAZEBO_MASTER_URI

：URIoftheGazebomaster.ThisspecifiestheIPandportwherethe

servcrwillbestartedandteIlsthcclicntswherctoconncctto.

GAZEBO.PLUGIN_PATH

:co1on-separatedsetofdirectorieswhereGazebowillsearchforthep1ugi

nsharedlibrariesatruntime.

GAZEBO_MODEL_DATABASE.URI

:URIoftheonlinemodeldatabasewhereGazebowil1downloadmodels

from.

Thesedefaultsarealsoincludedinashe11script:

source<install_path>/share/gazebo/setup.sh

IfyouwanttomodifyGazcbo*sbehavior,c.g.,byextendingthcpathitscare

hesformodels,youshouIdfirstsourcetheshe1Iscript1istedabove,thenmodif

ythevarIablesthatitsets.

GazeboServer

TheserveristheworkhorseofGazebo.ItparsesaworIddescriptionfileg

ivenonthecommandIine,andthensimulate$theworldusingaphysics

andsensorengine.

TheservercanbestartedusingthPfol1owingcommand.Notethatthese

rverdoesnotincludeanygraphics;it'smeanttornnheadless.

gzserver<world_filcname>

The<world_filename>

canbe：

re1ativetothecurrentdirectory.

anabso1utepath,or

relativetoapathcomponentinGAZEBO_RESOURCE_PATH

WorIdsthatareshippedwithGazeboare1ocatedin<install_path>，sha

rc/gazebo-<vcrsion_numbcr>/worlds

Forexample,tousetheempty,world

whichisshippedwithGazebo,usethefollowingcommand

gzserverworlds/empty.wor1d

Graphica1C1ient

Thegraphicalc1ientconnectstoarunninggzserver

andvisualizestheelements.Thisisalsoatoolwhichallowsyoutomo

difytherunningsimulation.

Thegraphicalc1icntisrunusing:

gzc1ient

Server+Graph1calClientinone

Thegazebo

commandcombinesserverandclientinoneexecutab1e.Insteadofrunning

gzserverworlds/empty.worldandthengzclient,youcandothis:

gazebowor1ds/empty.worId

Plugins

Pluginsprovideasimp!eandconvenientmechanismtointerfacewithGaz

ebo.Pluginscaneitherbe1oadcdonthecommandline,orspecified

inaworld/modelfile(seetheSDFformat).Pluginsspecifiedonthecomma

nd1inearcloadedfirst,thenpluginsspecificdinthewor1d/mode1f

ilesareloaded.Mostpluginsareloadedby【heserver;however,plugin

scanalsobe1oadedbythegraphica1clien(tofaci1itatecustom

GUIgeneration.

Examp1eofloadingapluginonthecommand1ine：

gzserver-s<plugin_filename><wor1d_fi1e>

Thesamemcchanismisusedbythegraphica1c1ient:

gzclient-g<p1ugin_filename>

Formoreinformationrefertothepluginsoverviewpage.

Introduction

Gazebousesadistributedarchitecturevvithseparatelibrariesforphysicssimulati

on.rendering,userinterface,communication,andsensorgeneration.Add

itionally,gazeboprovidestwoexecutableprogramsforrunningSimulat

ions:

aservergzscrvcr

forsimulatingthe3hysics,rendering,andsensors

adientgzclient

thatprovidesagraphica1interfacetovisua1izeandinteractwit

hthesimu1ation

Thedientandservercommunicateusingthegazebocommunicatio

nlibrary.

CommunicationBetweenProcesses

Thecommunication1ibrarycurrent1yuses(heopensourceGoogleProtobuf

forthemessageserializationandboost::ASIOforthetransportmech

anism.Itsupportsthepublish/subscribecommunicationparadigin.

Forcxamplc,asimulatedwor1dpublishesbodyposeupdates,andsensor

generationandGUIwillconsumethesemessagestoproduceoutput.

Thismechanismallowsforintrospectionofarunningsimulation,andpro

videsaconvenientmechanismtocontrolaspectsofGazebo.

System

GazeboMaster

Thisisesscntial1yatopicnameserver.Itprovidesnamclookup,andtopic

management.Asinglemastercanhandlemu1tiplephysicssimu

1ations,sensorgenerators,andGUIs.

CommunicationLibrary

Dependencies:Protobufandboost:：ASIO

Externa1API:

InternalAPI：None

AdvertisedTopics:None

SubscribedTopics：None

This1ibraryisuscdbyaImosta11subsequent1ibraries.Itactsasthec

ommunicationandtransportmechanismforGazebo.Itcurrentlysup

portsonlypub1ish/subscribe,butItisposs1bletouseRPCwithm1nima

1effort.

PhysicsLibrary

Dependencies:Dynamicsengine(within(ernalcol1isiondelection)

ExternalAPI:Providesasimpleandgenericinterfacetophysicssimu1a

tion

InternalAPI:Definesafundamentalinterfacetothephysics1ibraryfbr3rdpa

rtydynamicengines.

Thephysics1ibraryprovidesasimpleandgenericinterfacetofundamentals

imu1ationcomponents.inc1udingrigidbodies,col1isionshapes,andj

ointsforrepresentingarticu1ationconstra