Gazebo机器人仿真学习探索笔记（二）基本使用说明

[html] view plain copy print?在CODE上查看代码片派生到我的代码片

model://ground_plane

model://sun

model://pioneer2dx

model://hokuyo 0.2 0 .38 0 0 0

model://camera 0.2 0 .3 0 0 0

pioneer2dx::pioneer2dx::chassis pioneer2dx::camera::link

0 0 1

0 0

pioneer2dx::pioneer2dx::chassis pioneer2dx::hokuyo::link

0 0 1

0 0

參考上述模板，可以學習環境文件，主要由大地，光源，機器人模型，機器人模型包括本體，激光和攝像頭等具體配置。

除此之外，還有gzserver和gzclient。

gazebo命令实际上运行两个不同的可执行文件。 第一个称为gzserver，第二个称为gzclient。 gzserver可执行程序运行物理更新循环和传感器数据生成。 这是Gazebo的核心，可以独立于图形界面使用。 您可能会在论坛中看到“run headless”这个短语。 这个短语相当于只运行gzserver。 一个示例用例将涉及在不需要用户界面的云计算机上运行gzserver。 gzclient可执行文件运行基于QT的用户界面。 此应用程序提供了一个很好的可视化的模拟，并在各种模拟属性方便的控制。 當然，這兩個可以分別啓動。 gazebo使用的快捷鍵：

Action OperationInstruction MODE

Enter Selection mode (default mode) Esc press Esc for mode to select models and right-click for context menu

Enter Rotate mode r press \

Enter Translate mode t press \Enter Scale mode s press \Enter Snap mode n press \MODELS

Delete model Delete press Delete when a model is selected to delete from scene Copy model Ctrl + c press Ctrl + \Paste model Ctrl + v press Ctrl + \MANIPULATING MODELS

Rotate model r press \

Translate model t press \Scale model s press \Constrain along axis x/y/zhold key while manipulating model to constrain movement along that axis Snap to 45° when rotating Ctrl + drag hold Ctrl while rotating model to rotate in 45° increments

Snap to grid when translating Ctrl + drag hold Ctrl while translating model to snap to grid

Snap to 1 m when scaling Ctrl + drag hold Ctrl while scaling mode to scale in 1 m increments

Snap when inserting Ctrl + drag hold Ctrl while inserting model to enable snap to grid

Snap models together n press \link to second GUI LAYOUT

Hide toolbars Ctrl + h hide/show top toolbar and bottom time panel Enter fullscreen F11 enter/exit fullscreen Action OperationInstruction EDITORS

Open Model Editor Ctrl + m open Model Editor to construct or edit models

Open Schematic View (Model Editor) Ctrl + e open Schematic View in Model Editor Open Building Editor Ctrl + b open Building Editor to construct buildings

Show floor plan (Building Editor) f show/hide floor plan in Building Editor 2D View

Show building features (Building Editor) g show/hide building features in Building Editor 2D View

New canvas (both Editors) Ctrl + n create new canvas

Save model (both Editors) Ctrl + s save model for later use Save as (both Editors) Ctrl + Shift + s save model for later use & give it a name Exit (both Editors) Ctrl + x exit Editor WORLD

Save world Ctrl + s press Ctrl + \Save as Ctrl + Shift + s press Ctrl + Shift + \Reset world Ctrl + r press Ctrl + \Reset model poses Ctrl + Shift + r press Ctrl + Shift + \DATA

Visualize topics Ctrl + t open dialog with list of topics currently advertized

Log data Ctrl + d open dialog to record log files MISCELLANEOUS

Quit Gazebo Ctrl + q press Ctrl + \

注意這裏gazebo並不能與ROS通訊，如果需要可以使用下面命令： [html] view plain copy print?在CODE上查看代码片派生到我的代码片 rosrun gazebo_ros gazebo rosrun gazebo_ros gzserver rosrun gazebo_ros gzclient

rosrun gazebo_ros spawn_model rosrun gazebo_ros perf rosrun gazebo_ros debug

啓動後可以看到：

[html] view plain copy print?在CODE上查看代码片派生到我的代码片 ~$ rostopic list /clock

/gazebo/link_states /gazebo/model_states

/gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state /rosout /rosout_agg

具體在之後筆記中再補充。

附件：官網教程。 Run Gazebo

These three steps will run Gazebo with a default world. Install Gazebo.

Open a terminal. On most Ubuntu systems you can press CTRL+ALT+t Start Gazebo by entering the following at the command prompt.