[{"data":1,"prerenderedAt":17733},["ShallowReactive",2],{"wiki-page-/wiki/2023-12-30-ros2-tutorial/ch11-2-ignitiongazebo":3,"wiki-doc-items-/wiki/2023-12-30-ros2-tutorial/ch11-2-ignitiongazebo":17589},{"id":4,"title":5,"body":6,"chapter":17575,"chapterSort":17576,"date":17577,"description":107,"docKey":17578,"docRoot":17579,"docTitle":17580,"extension":17581,"isWikiDoc":118,"isWikiIndex":17582,"layout":17583,"meta":17584,"navigation":118,"path":17585,"seo":17586,"stem":17587,"wikiDepth":115,"__hash__":17588},"content/wiki/2023-12-30-ros2-tutorial/ch11-2-IgnitionGazebo.md","Ignition Gazebo（Gazebo Fortress）",{"type":7,"value":8,"toc":17572},"minimark",[9,14,18,26,31,34,37,40,43,46,62,65,71,74,80,86,93,98,101,197,203,208,211,214,251,254,273,280,285,290,293,298,301,304,309,316,322,327,332,337,342,347,352,357,365,370,456,461,466,471,476,481,486,489,494,508,513,516,519,524,529,533,536,547,550,555,562,607,610,632,635,640,645,652,673,687,692,698,722,725,730,733,736,741,744,770,781,784,787,807,810,813,821,824,830,833,845,848,860,863,875,878,902,909,914,917,1368,1371,1396,1400,1407,1412,1415,1433,1438,1443,1446,1467,1470,1475,1480,1483,1488,1493,1500,1503,1508,1511,1532,1537,1542,1545,2163,2166,2171,2176,2179,2197,2202,2207,2210,2235,2238,2254,2269,2274,2281,2284,2289,2336,2339,2344,2364,2369,2372,2524,2527,2713,2716,2877,2882,2889,2892,2895,2898,2903,2908,6120,6125,6204,6207,9094,9099,9102,9290,9295,9297,9311,9316,9318,9340,9343,9346,9351,9357,9360,9365,9368,9374,9377,9380,9385,9388,9436,9442,9447,9466,9471,9474,9477,12845,12849,12851,12865,12869,12871,12891,12893,12898,12902,12905,12908,12915,12920,12923,12928,12931,13223,13226,13231,13234,13611,13615,13617,13636,13640,13643,13685,13687,13692,13700,13703,13709,13715,13720,13726,13729,13735,13822,13825,13828,13946,13951,13958,14290,14295,14628,14631,15084,15089,15092,15612,15616,15618,15634,15638,15640,15674,15677,15691,15694,15697,15713,15716,15724,15729,15733,15736,15741,15751,15825,15828,15833,15838,15841,16691,16694,16857,16864,16867,16894,16897,16902,16904,17466,17470,17472,17488,17492,17494,17528,17530,17533,17547,17552,17557,17559,17565,17568],[10,11,13],"h3",{"id":12},"ignition-gazebogazebo-fortress基于ros2-humble","Ignition Gazebo（Gazebo Fortress，基于ROS2 Humble）",[15,16,17],"p",{},"** 建议使用ROS2 Jazzy的，这个ROS2 Humble的Gazebo像过渡版本，代码可能和后续版本又冲突！ **\n(该版本教程已经停更，以后会专注于更新ROS2 Jazzy及之后的版本，也就是更新Gazebo Harmonic及之后的版本。)",[15,19,20,21],{},"详见",[22,23,25],"nuxt-link",{"to":24},"/wiki/2023-12-30-ros2-tutorial/ch11-3-gazebosim#Gz Sim（Gazebo Harmonic 及之后的版本（ROS2 Jazzy及之后的版本））","Gz Sim教程",[27,28,30],"h4",{"id":29},"ign-gazebo安装与运行","Ign Gazebo安装与运行",[15,32,33],{},"Gazebo每个版本的变化都很大。",[15,35,36],{},"特别是ROS1用的老版Gazebo(黑色界面)和ROS2用的新版Gazebo(白色界面)。",[15,38,39],{},"ROS2的不同版本的Gazebo跨度也很大，比如Humble和Jazzy及Jazzy之后的版本之间很多标签区别很大。",[15,41,42],{},"本文使用humble版本(即Ignition Gazebo)当做教程。",[15,44,45],{},"当然，为了兼容以后的Gazebo，在下方也会有教程教你如何从ign gazebo迁移到gazebo sim（最最最新版gazebo）。",[15,47,48,49,53,54,61],{},"Ignition Gazebo 是 ROS2 中使用的全新机器人仿真工具，",[50,51,52],"strong",{},"它是 Gazebo 的升级版本","。在Humble他还叫Ignition Gazebo(也叫Gazebo Fortress)，在Jazzy中叫Gazebo Harmonic(去掉了Ignition的名字)(",[55,56,60],"a",{"href":57,"rel":58},"https://community.gazebosim.org/t/a-new-era-for-gazebo/1356)%E3%80%82%E5%AE%83%E5%85%B7%E5%A4%87%E6%9B%B4%E5%A5%BD%E7%9A%84%E6%80%A7%E8%83%BD%E5%92%8C%E5%8F%AF%E7%94%A8%E6%80%A7%EF%BC%8C%E5%B9%B6%E9%80%9A%E8%BF%87%E7%B4%A7%E5%AF%86%E9%9B%86%E6%88%90",[59],"nofollow","https://community.gazebosim.org/t/a-new-era-for-gazebo/1356)。它具备更好的性能和可用性，并通过紧密集成"," ROS2 来提供强大的仿真环境。Ignition Gazebo 支持各种机器人平台和传感器，并提供灵活的配置选项和易于使用的界面。它的物理引擎和传感器模型可以帮助开发人员进行机器人系统的开发、测试和验证。无论是研究还是教育，Ignition Gazebo 都是一个强大的工具。",[15,63,64],{},"如果想从Ignition Gazebo(ROS2 Humble)迁移到Gazebo(ROS2 Jazzy)，请往下翻翻，下面有一节是讲如何迁移的。",[15,66,67],{},[55,68,69],{"href":69,"rel":70},"https://docs.ros.org/en/humble/Tutorials/Advanced/Simulators/Gazebo/Gazebo.html",[59],[15,72,73],{},"下面这个网站是官方教程(ROS2 Humble的Ignition Gazebo Fortress)：",[15,75,76],{},[55,77,78],{"href":78,"rel":79},"https://gazebosim.org/docs/fortress/getstarted/",[59],[15,81,82],{},[55,83,84],{"href":84,"rel":85},"https://gazebosim.org/docs/fortress/library_reference_nav/",[59],[15,87,88,89],{},"源码：",[55,90,91],{"href":91,"rel":92},"https://github.com/gazebosim/docs/blob/master/fortress/tutorials",[59],[15,94,95],{},[50,96,97],{},"安装",[15,99,100],{},"Ignition Gazebo 是不依赖于ROS2的一个独立的项目，可以独自安装。但是如果安装了ROS2，在ROS2存储库中已经集成了对应版本的 Ignition Gazebo，可以调用如下指令直接安装：",[102,103,108],"pre",{"className":104,"code":105,"language":106,"meta":107,"style":107},"language-bash shiki shiki-themes github-light github-dark","\n# 通用命令\nsudo apt install ros-${ROS_DISTRO}-ros-gz\n\n# Humble版本\nsudo apt install ros-humble-ros-gz\n\n# Jazzy版本\nsudo apt install ros-jazzy-ros-gz\n","bash","",[109,110,111,120,127,151,156,162,174,179,185],"code",{"__ignoreMap":107},[112,113,116],"span",{"class":114,"line":115},"line",1,[112,117,119],{"emptyLinePlaceholder":118},true,"\n",[112,121,123],{"class":114,"line":122},2,[112,124,126],{"class":125},"sJ8bj","# 通用命令\n",[112,128,130,134,138,141,144,148],{"class":114,"line":129},3,[112,131,133],{"class":132},"sScJk","sudo",[112,135,137],{"class":136},"sZZnC"," apt",[112,139,140],{"class":136}," install",[112,142,143],{"class":136}," ros-",[112,145,147],{"class":146},"sVt8B","${ROS_DISTRO}",[112,149,150],{"class":136},"-ros-gz\n",[112,152,154],{"class":114,"line":153},4,[112,155,119],{"emptyLinePlaceholder":118},[112,157,159],{"class":114,"line":158},5,[112,160,161],{"class":125},"# Humble版本\n",[112,163,165,167,169,171],{"class":114,"line":164},6,[112,166,133],{"class":132},[112,168,137],{"class":136},[112,170,140],{"class":136},[112,172,173],{"class":136}," ros-humble-ros-gz\n",[112,175,177],{"class":114,"line":176},7,[112,178,119],{"emptyLinePlaceholder":118},[112,180,182],{"class":114,"line":181},8,[112,183,184],{"class":125},"# Jazzy版本\n",[112,186,188,190,192,194],{"class":114,"line":187},9,[112,189,133],{"class":132},[112,191,137],{"class":136},[112,193,140],{"class":136},[112,195,196],{"class":136}," ros-jazzy-ros-gz\n",[15,198,199],{},[200,201],"img",{"alt":107,"src":202},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1705.webp",[15,204,205],{},[50,206,207],{},"运行",[15,209,210],{},"Ignition Gazebo 安装完毕之后，可以通过两种方式启动。",[15,212,213],{},"方式1，以Ignition Gazebo 的方式启动，指令如下：",[102,215,217],{"className":104,"code":216,"language":106,"meta":107,"style":107},"\n# Humble版本\nign gazebo\n\n# Jazzy版本\ngz sim\n",[109,218,219,223,227,235,239,243],{"__ignoreMap":107},[112,220,221],{"class":114,"line":115},[112,222,119],{"emptyLinePlaceholder":118},[112,224,225],{"class":114,"line":122},[112,226,161],{"class":125},[112,228,229,232],{"class":114,"line":129},[112,230,231],{"class":132},"ign",[112,233,234],{"class":136}," gazebo\n",[112,236,237],{"class":114,"line":153},[112,238,119],{"emptyLinePlaceholder":118},[112,240,241],{"class":114,"line":158},[112,242,184],{"class":125},[112,244,245,248],{"class":114,"line":164},[112,246,247],{"class":132},"gz",[112,249,250],{"class":136}," sim\n",[15,252,253],{},"方式2，以ROS2的方式 启动，指令如下 ：",[102,255,257],{"className":104,"code":256,"language":106,"meta":107,"style":107},"ros2 launch ros_gz_sim gz_sim.launch.py\n",[109,258,259],{"__ignoreMap":107},[112,260,261,264,267,270],{"class":114,"line":115},[112,262,263],{"class":132},"ros2",[112,265,266],{"class":136}," launch",[112,268,269],{"class":136}," ros_gz_sim",[112,271,272],{"class":136}," gz_sim.launch.py\n",[15,274,275,276,279],{},"二者运行结果一致，如下图所示：在弹出窗口中，选择仿真环境然后点击",[109,277,278],{},"run","按钮即可运行。",[15,281,282],{},[200,283],{"alt":107,"src":284},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1706.webp",[15,286,287],{},[50,288,289],{},"界面介绍",[15,291,292],{},"接下来以Empty仿真环境为例，介绍一下Ignition Gazebo的界面组成。",[15,294,295],{},[200,296],{"alt":107,"src":297},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1707.webp",[15,299,300],{},"注意：如果你的Gazebo不卡，但是Ignition Gazebo巨卡的话，请确认Ignition Gazebo是以独显打开的，而不是核显。",[15,302,303],{},"如果不会切换应用显卡，可以直接把核显关闭掉，从混合输出切换为独立显卡输出。",[15,305,306],{},[50,307,308],{},"工具栏",[310,311,312],"ul",{},[313,314,315],"li",{},"顶部的工具栏包含两个按钮，左侧的文件菜单按钮（水平条纹）和右侧的插件按钮（垂直省略号）。",[317,318,319],"ol",{},[313,320,321],{},"文件菜单按钮（水平条纹）",[15,323,324],{},[200,325],{"alt":107,"src":326},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1708.webp",[310,328,329],{},[313,330,331],{},"文件菜单按钮包含将仿真环境保存到文件、保存和加载界面配置以及自定义界面样式等设置。",[317,333,334],{"start":122},[313,335,336],{},"右侧的插件按钮（垂直省略号）",[15,338,339],{},[200,340],{"alt":107,"src":341},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1709.webp",[310,343,344],{},[313,345,346],{},"插件按钮列出了所有可用的插件。点击后会弹出插件列表，向下滚动此列表以查看所有插件。 当选择一个时，其界面将出现在右侧面板中。",[15,348,349],{},[50,350,351],{},"3D视窗",[310,353,354],{},[313,355,356],{},"左上方工具栏包含多种几何体（球体、框体、圆柱体）按钮和变换控件。通过集合体按钮可以直接将盒子、球体或圆柱体模型插入仿真环境。只需单击要插入的形状，然后将其放入环境中。该形状将自动捕捉到地平面上。",[15,358,359,362],{},[200,360],{"alt":107,"src":361},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1710.webp",[200,363],{"alt":107,"src":364},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1711.webp",[310,366,367],{},[313,368,369],{},"主视图会显示仿真环境，我们可以通过鼠标以不同方式来导航场景，相关操作如下：",[102,371,373],{"className":104,"code":372,"language":106,"meta":107,"style":107},"左键单击：选择实体\n右键单击：打开带有选项的菜单：\n Move to：移动到以实体为中心的场景\n Follow：选择一个实体让视图保持居中，无论是移动还是平移\n Remove：从模拟中删除实体\n Copy：复制实体\n Past: 粘贴实体\n View：显示实体的重心（Center of Mass）、碰撞边界（Collisions）、惯性（Inertia）、\n 关节（Joints）、坐标系（Frames）、透明度（Transparent）、线框（Wireframe）等属性\n左键单击并拖动：在场景中平移\n右键单击并拖动：放大和缩小\n滚轮向前/向后：放大和缩小\n滚轮单击并拖动：旋转场景\n",[109,374,375,380,385,393,398,403,408,416,427,432,438,444,450],{"__ignoreMap":107},[112,376,377],{"class":114,"line":115},[112,378,379],{"class":132},"左键单击：选择实体\n",[112,381,382],{"class":114,"line":122},[112,383,384],{"class":132},"右键单击：打开带有选项的菜单：\n",[112,386,387,390],{"class":114,"line":129},[112,388,389],{"class":132}," Move",[112,391,392],{"class":136}," to：移动到以实体为中心的场景\n",[112,394,395],{"class":114,"line":153},[112,396,397],{"class":132}," Follow：选择一个实体让视图保持居中，无论是移动还是平移\n",[112,399,400],{"class":114,"line":158},[112,401,402],{"class":132}," Remove：从模拟中删除实体\n",[112,404,405],{"class":114,"line":164},[112,406,407],{"class":132}," Copy：复制实体\n",[112,409,410,413],{"class":114,"line":176},[112,411,412],{"class":132}," Past:",[112,414,415],{"class":136}," 粘贴实体\n",[112,417,418,421,424],{"class":114,"line":181},[112,419,420],{"class":132}," View：显示实体的重心（Center",[112,422,423],{"class":136}," of",[112,425,426],{"class":136}," Mass）、碰撞边界（Collisions）、惯性（Inertia）、\n",[112,428,429],{"class":114,"line":187},[112,430,431],{"class":132}," 关节（Joints）、坐标系（Frames）、透明度（Transparent）、线框（Wireframe）等属性\n",[112,433,435],{"class":114,"line":434},10,[112,436,437],{"class":132},"左键单击并拖动：在场景中平移\n",[112,439,441],{"class":114,"line":440},11,[112,442,443],{"class":132},"右键单击并拖动：放大和缩小\n",[112,445,447],{"class":114,"line":446},12,[112,448,449],{"class":132},"滚轮向前/向后：放大和缩小\n",[112,451,453],{"class":114,"line":452},13,[112,454,455],{"class":132},"滚轮单击并拖动：旋转场景\n",[310,457,458],{},[313,459,460],{},"想移动这个球，需要点左上角的移动模式，再左键单击选中物体",[15,462,463],{},[200,464],{"alt":107,"src":465},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1712.webp",[15,467,468],{},[200,469],{"alt":107,"src":470},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1713.webp",[310,472,473],{},[313,474,475],{},"在视窗的底部，从左到右分别是是播放、步长按钮和实时因子（Real-Time Factor，RTF）。点击播放按钮将开始运行仿真环境， 再次点击可以暂停运行。步长按钮用于设置仿真时间的离散单位，可以通过将鼠标悬停在按钮上来自定义步长。实时因子表示仿真运行速度相对于真实时间的比例。",[15,477,478],{},[200,479],{"alt":107,"src":480},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1714.webp",[15,482,483],{},[50,484,485],{},"右侧面板",[15,487,488],{},"右侧面板用于显示插件，当前仿真环境默认包含两个插件：Model和Entity Tree。",[15,490,491],{},[200,492],{"alt":107,"src":493},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1715.webp",[310,495,496,499,502,505],{},[313,497,498],{},"Entity Tree 中会显示仿真环境中的实体列表；",[313,500,501],{},"点击Entity Tree中的实体后，可以在Model中显示该实体的相关信息。",[313,503,504],{},"也可以按住 Ctrl 并单击以选择多个实体；",[313,506,507],{},"还可以右键单击任何插件以打开基本设置或关闭。",[15,509,510],{},[200,511],{"alt":107,"src":512},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1716.webp",[15,514,515],{},"在Ignition Gazebo中内置了许多插件，可以点击工具栏的右侧按钮自行添加，比如：可以选择 Grid Config 插件调整世界网格的特征，包括单元格大小、网格位置、单元格计数、或颜色等。",[15,517,518],{},"后期随着应用的深入，也会陆续介绍其他一些插件。",[15,520,521],{},[200,522],{"alt":107,"src":523},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1717.webp",[15,525,526],{},[200,527],{"alt":107,"src":528},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1718.webp",[27,530,532],{"id":531},"与ros2集成","与ROS2集成",[15,534,535],{},"本节将介绍如何实现Ignition Gazebo与ROS2的集成，以实现二者之间的交互，比如，可以通过ROS2的键盘控制节点控制机器人运动，并且在rviz2中显示机器人的里程计(odom)数据。其流程大致如下：",[317,537,538,541,544],{},[313,539,540],{},"启动 Ignition Gazebo 仿真环境；",[313,542,543],{},"通过 ros_gz_bridge 建立 ROS2 与 Ignition Gazebo 的连接；",[313,545,546],{},"启动 ROS2 相关节点实现与 Ignition Gazebo 的数据收发。",[15,548,549],{},"Ignition Gazebo与ROS2的的所有集成实现，基本都遵循上述流程。",[15,551,552],{},[50,553,554],{},"启动仿真环境",[15,556,557,558,561],{},"在 Ignition Gazebo 安装时，已经内置了一些仿真环境，直接启动即可。在此我们可以使用名为",[109,559,560],{},"visualize_lidar.sdf","的仿真文件，该文件对应的仿真环境中包括了差速机器人以及激光雷达的仿真。启动指令如下：",[102,563,565],{"className":104,"code":564,"language":106,"meta":107,"style":107},"ign gazebo -v 4 -r visualize_lidar.sdf\n#或者\ngz sim -v 4 -r visualize_lidar.sdf\n",[109,566,567,587,592],{"__ignoreMap":107},[112,568,569,571,574,578,581,584],{"class":114,"line":115},[112,570,231],{"class":132},[112,572,573],{"class":136}," gazebo",[112,575,577],{"class":576},"sj4cs"," -v",[112,579,580],{"class":576}," 4",[112,582,583],{"class":576}," -r",[112,585,586],{"class":136}," visualize_lidar.sdf\n",[112,588,589],{"class":114,"line":122},[112,590,591],{"class":125},"#或者\n",[112,593,594,596,599,601,603,605],{"class":114,"line":129},[112,595,247],{"class":132},[112,597,598],{"class":136}," sim",[112,600,577],{"class":576},[112,602,580],{"class":576},[112,604,583],{"class":576},[112,606,586],{"class":136},[15,608,609],{},"或者也可以以ROS2 launch的方式启动，指令如下：",[102,611,613],{"className":104,"code":612,"language":106,"meta":107,"style":107},"ros2 launch ros_gz_sim gz_sim.launch.py gz_args:=\"-v 4 -r visualize_lidar.sdf\" # 启动状态\n",[109,614,615],{"__ignoreMap":107},[112,616,617,619,621,623,626,629],{"class":114,"line":115},[112,618,263],{"class":132},[112,620,266],{"class":136},[112,622,269],{"class":136},[112,624,625],{"class":136}," gz_sim.launch.py",[112,627,628],{"class":136}," gz_args:=\"-v 4 -r visualize_lidar.sdf\"",[112,630,631],{"class":125}," # 启动状态\n",[15,633,634],{},"两种方式本质相同，都是启动了Ignition Gazebo并且加载了visualize_lidar.sdf文件。",[15,636,637],{},[200,638],{"alt":107,"src":639},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1719.webp",[15,641,642],{},[50,643,644],{},"建立连接",[15,646,647,648,651],{},"虽然仿真环境中的机器人已经配置了运动控制插件，可以通过",[109,649,650],{},"/model/vehicle_blue/cmd_vel","话题订阅速度指令并运动，但是Ignition Gazebo与ROS2中的消息格式并不一致，所以还需要通过ros_gz_bridge这一桥接功能包，实现二者之间消息的转换，调用指令如下：",[102,653,655],{"className":104,"code":654,"language":106,"meta":107,"style":107},"ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist\n",[109,656,657],{"__ignoreMap":107},[112,658,659,661,664,667,670],{"class":114,"line":115},[112,660,263],{"class":132},[112,662,663],{"class":136}," run",[112,665,666],{"class":136}," ros_gz_bridge",[112,668,669],{"class":136}," parameter_bridge",[112,671,672],{"class":136}," /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist\n",[15,674,675,676,678,679,682,683,686],{},"通过该指令可以将发布在",[109,677,650],{},"话题上的",[109,680,681],{},"geometry_msgs/msg/Twist","类型的ROS2消息转换成可以被Ignition Gzebo识别的",[109,684,685],{},"gz.msgs.Twist","类型的消息。",[15,688,689],{},[50,690,691],{},"启动ROS2节点",[15,693,694,695,697],{},"启动ROS2的键盘控制节点，并将话题重映射为",[109,696,650],{},"，指令如下：",[102,699,701],{"className":104,"code":700,"language":106,"meta":107,"style":107},"ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel\n",[109,702,703],{"__ignoreMap":107},[112,704,705,707,709,712,714,717,719],{"class":114,"line":115},[112,706,263],{"class":132},[112,708,663],{"class":136},[112,710,711],{"class":136}," teleop_twist_keyboard",[112,713,711],{"class":136},[112,715,716],{"class":576}," --ros-args",[112,718,583],{"class":576},[112,720,721],{"class":136}," /cmd_vel:=/model/vehicle_blue/cmd_vel\n",[15,723,724],{},"接下来就可以使用键盘控制机器人运动了。",[15,726,727],{},[200,728],{"alt":107,"src":729},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1720.webp",[27,731,732],{"id":732},"ros_gz_bridge",[15,734,735],{},"ros_gz_bridge是连接ROS2与Ignition Gazebo的桥梁，ROS2与Ignition Gazebo使用的消息并不兼容，必须通过ros_gz_bridge进行转换。",[15,737,738],{},[50,739,740],{},"ros_gz_bridge使用语法",[15,742,743],{},"ROS2与Ignition Gazebo的桥接是通过ros_gz_bridge包中的parameter_bridge节点实现，其使用语法如下：",[102,745,747],{"className":104,"code":746,"language":106,"meta":107,"style":107},"parameter_bridge [\u003Ctopic@ROS2_type@Gz_type> ..] [\u003Cservice@ROS2_srv_type[@Gz_req_type@Gz_rep_type]> ..]\n",[109,748,749],{"__ignoreMap":107},[112,750,751,754,757,760,763,767],{"class":114,"line":115},[112,752,753],{"class":132},"parameter_bridge",[112,755,756],{"class":146}," [\u003Ctopic@ROS2_type@Gz_type> ",[112,758,759],{"class":136},"..]",[112,761,762],{"class":146}," [\u003Cservice@ROS2_srv_type[@Gz_req_type@Gz_rep_type]",[112,764,766],{"class":765},"szBVR",">",[112,768,769],{"class":146}," ..]\n",[15,771,772,773,776,777,780],{},"在话题Topic中， ",[50,774,775],{},"第一个@"," 符号是话题名称和消息类型的 ",[50,778,779],{},"分隔符"," 。",[15,782,783],{},"第一个@符号后面是ROS消息类型。",[15,785,786],{},"ROS消息类型后面是@、[或]符号：",[310,788,789,795,801],{},[313,790,791,794],{},[50,792,793],{},"@"," 表示双向桥接；",[313,796,797,800],{},[50,798,799],{},"["," 表示从Ignition Gazebo到ROS的桥接；",[313,802,803,806],{},[50,804,805],{},"]"," 表示从ROS到Ignition Gazebo的桥接。",[15,808,809],{},"方向符号后是Gazebo Transport消息类型。",[15,811,812],{},"（两个@不是同一个含义）",[15,814,815,816,818,819,780],{},"在服务Service中， ",[50,817,775],{}," 符号是服务名称和类型的 ",[50,820,779],{},[15,822,823],{},"第一个@符号后面是ROS服务类型。可以选择地包括Gazebo请求和响应类型，在它们之间用@符号分隔。",[15,825,826,829],{},[50,827,828],{},"仅"," 支持将Gazebo服务公开为ROS服务，即ROS服务将请求转发到Gazebo服务，然后将响应转发回ROS客户端。",[15,831,832],{},"双向桥接示例：",[102,834,836],{"className":104,"code":835,"language":106,"meta":107,"style":107},"parameter_bridge /chatter@std_msgs/String@gz.msgs.StringMsg\n",[109,837,838],{"__ignoreMap":107},[112,839,840,842],{"class":114,"line":115},[112,841,753],{"class":132},[112,843,844],{"class":136}," /chatter@std_msgs/String@gz.msgs.StringMsg\n",[15,846,847],{},"从Gazebo到ROS的桥接示例：",[102,849,851],{"className":104,"code":850,"language":106,"meta":107,"style":107},"parameter_bridge /chatter@std_msgs/String[gz.msgs.StringMsg\n",[109,852,853],{"__ignoreMap":107},[112,854,855,857],{"class":114,"line":115},[112,856,753],{"class":132},[112,858,859],{"class":136}," /chatter@std_msgs/String[gz.msgs.StringMsg\n",[15,861,862],{},"从ROS到Gazebo的桥接示例：",[102,864,866],{"className":104,"code":865,"language":106,"meta":107,"style":107},"parameter_bridge /chatter@std_msgs/String]gz.msgs.StringMsg\n",[109,867,868],{"__ignoreMap":107},[112,869,870,872],{"class":114,"line":115},[112,871,753],{"class":132},[112,873,874],{"class":136}," /chatter@std_msgs/String]gz.msgs.StringMsg\n",[15,876,877],{},"服务桥接示例：",[102,879,881],{"className":104,"code":880,"language":106,"meta":107,"style":107},"parameter_bridge /world/default/control@ros_gz_interfaces/srv/ControlWorld\n或者：\nparameter_bridge /world/default/control@ros_gz_interfaces/srv/ControlWorld@gz.msgs.WorldControl@gz.msgs.Boolean\n",[109,882,883,890,895],{"__ignoreMap":107},[112,884,885,887],{"class":114,"line":115},[112,886,753],{"class":132},[112,888,889],{"class":136}," /world/default/control@ros_gz_interfaces/srv/ControlWorld\n",[112,891,892],{"class":114,"line":122},[112,893,894],{"class":132},"或者：\n",[112,896,897,899],{"class":114,"line":129},[112,898,753],{"class":132},[112,900,901],{"class":136}," /world/default/control@ros_gz_interfaces/srv/ControlWorld@gz.msgs.WorldControl@gz.msgs.Boolean\n",[15,903,904,905,908],{},"也可以运行",[109,906,907],{},"ros2 run ros_gz_bridge parameter_bridge -h","指令查看官方说明文档。",[15,910,911],{},[50,912,913],{},"ros_gz_bridge支持的消息类型",[15,915,916],{},"以下是ROS2与Ignition Gazebo中话题消息类型对应表：",[918,919,920,934],"table",{},[921,922,923],"thead",{},[924,925,926,931],"tr",{},[927,928,930],"th",{"align":929},"left","ROS2消息类型",[927,932,933],{"align":929},"Gazebo Transport 类型",[935,936,937,946,954,962,970,977,985,993,1000,1007,1013,1021,1028,1035,1043,1050,1058,1065,1073,1081,1089,1097,1105,1113,1121,1129,1137,1145,1153,1161,1169,1177,1185,1193,1201,1209,1217,1225,1233,1241,1249,1257,1265,1273,1281,1289,1297,1305,1313,1321,1329,1337,1345,1353,1360],"tbody",{},[924,938,939,943],{},[940,941,942],"td",{"align":929},"builtin_interfaces/msg/Time",[940,944,945],{"align":929},"gz.msgs.Time",[924,947,948,951],{},[940,949,950],{"align":929},"geometry_msgs/msg/Point",[940,952,953],{"align":929},"gz.msgs.Vector3d",[924,955,956,959],{},[940,957,958],{"align":929},"geometry_msgs/msg/Pose",[940,960,961],{"align":929},"gz.msgs.Pose",[924,963,964,967],{},[940,965,966],{"align":929},"geometry_msgs/msg/PoseArray",[940,968,969],{"align":929},"gz.msgs.Pose_V",[924,971,972,975],{},[940,973,974],{"align":929},"geometry_msgs/msg/PoseStamped",[940,976,961],{"align":929},[924,978,979,982],{},[940,980,981],{"align":929},"geometry_msgs/msg/PoseWithCovariance",[940,983,984],{"align":929},"gz.msgs.PoseWithCovariance",[924,986,987,990],{},[940,988,989],{"align":929},"geometry_msgs/msg/Quaternion",[940,991,992],{"align":929},"gz.msgs.Quaternion",[924,994,995,998],{},[940,996,997],{"align":929},"geometry_msgs/msg/Transform",[940,999,961],{"align":929},[924,1001,1002,1005],{},[940,1003,1004],{"align":929},"geometry_msgs/msg/TransformStamped",[940,1006,961],{"align":929},[924,1008,1009,1011],{},[940,1010,681],{"align":929},[940,1012,685],{"align":929},[924,1014,1015,1018],{},[940,1016,1017],{"align":929},"geometry_msgs/msg/TwistWithCovariance",[940,1019,1020],{"align":929},"gz.msgs.TwistWithCovariance",[924,1022,1023,1026],{},[940,1024,1025],{"align":929},"geometry_msgs/msg/TwistWithCovarianceStamped",[940,1027,1020],{"align":929},[924,1029,1030,1033],{},[940,1031,1032],{"align":929},"geometry_msgs/msg/Vector3",[940,1034,953],{"align":929},[924,1036,1037,1040],{},[940,1038,1039],{"align":929},"geometry_msgs/msg/Wrench",[940,1041,1042],{"align":929},"gz.msgs.Wrench",[924,1044,1045,1048],{},[940,1046,1047],{"align":929},"geometry_msgs/msg/WrenchStamped",[940,1049,1042],{"align":929},[924,1051,1052,1055],{},[940,1053,1054],{"align":929},"nav_msgs/msg/Odometry",[940,1056,1057],{"align":929},"gz.msgs.Odometry",[924,1059,1060,1062],{},[940,1061,1054],{"align":929},[940,1063,1064],{"align":929},"gz.msgs.OdometryWithCovariance",[924,1066,1067,1070],{},[940,1068,1069],{"align":929},"rcl_interfaces/msg/ParameterValue",[940,1071,1072],{"align":929},"gz.msgs.Any",[924,1074,1075,1078],{},[940,1076,1077],{"align":929},"ros_gz_interfaces/msg/Altimeter",[940,1079,1080],{"align":929},"gz.msgs.Altimeter",[924,1082,1083,1086],{},[940,1084,1085],{"align":929},"ros_gz_interfaces/msg/Contact",[940,1087,1088],{"align":929},"gz.msgs.Contact",[924,1090,1091,1094],{},[940,1092,1093],{"align":929},"ros_gz_interfaces/msg/Contacts",[940,1095,1096],{"align":929},"gz.msgs.Contacts",[924,1098,1099,1102],{},[940,1100,1101],{"align":929},"ros_gz_interfaces/msg/Dataframe",[940,1103,1104],{"align":929},"gz.msgs.Dataframe",[924,1106,1107,1110],{},[940,1108,1109],{"align":929},"ros_gz_interfaces/msg/Entity",[940,1111,1112],{"align":929},"gz.msgs.Entity",[924,1114,1115,1118],{},[940,1116,1117],{"align":929},"ros_gz_interfaces/msg/Float32Array",[940,1119,1120],{"align":929},"gz.msgs.Float_V",[924,1122,1123,1126],{},[940,1124,1125],{"align":929},"ros_gz_interfaces/msg/GuiCamera",[940,1127,1128],{"align":929},"gz.msgs.GUICamera",[924,1130,1131,1134],{},[940,1132,1133],{"align":929},"ros_gz_interfaces/msg/JointWrench",[940,1135,1136],{"align":929},"gz.msgs.JointWrench",[924,1138,1139,1142],{},[940,1140,1141],{"align":929},"ros_gz_interfaces/msg/Light",[940,1143,1144],{"align":929},"gz.msgs.Light",[924,1146,1147,1150],{},[940,1148,1149],{"align":929},"ros_gz_interfaces/msg/SensorNoise",[940,1151,1152],{"align":929},"gz.msgs.SensorNoise",[924,1154,1155,1158],{},[940,1156,1157],{"align":929},"ros_gz_interfaces/msg/StringVec",[940,1159,1160],{"align":929},"gz.msgs.StringMsg_V",[924,1162,1163,1166],{},[940,1164,1165],{"align":929},"ros_gz_interfaces/msg/TrackVisual",[940,1167,1168],{"align":929},"gz.msgs.TrackVisual",[924,1170,1171,1174],{},[940,1172,1173],{"align":929},"ros_gz_interfaces/msg/VideoRecord",[940,1175,1176],{"align":929},"gz.msgs.VideoRecord",[924,1178,1179,1182],{},[940,1180,1181],{"align":929},"ros_gz_interfaces/msg/WorldControl",[940,1183,1184],{"align":929},"gz.msgs.WorldControl",[924,1186,1187,1190],{},[940,1188,1189],{"align":929},"rosgraph_msgs/msg/Clock*",[940,1191,1192],{"align":929},"gz.msgs.Clock*",[924,1194,1195,1198],{},[940,1196,1197],{"align":929},"sensor_msgs/msg/BatteryState",[940,1199,1200],{"align":929},"gz.msgs.BatteryState",[924,1202,1203,1206],{},[940,1204,1205],{"align":929},"sensor_msgs/msg/CameraInfo",[940,1207,1208],{"align":929},"gz.msgs.CameraInfo",[924,1210,1211,1214],{},[940,1212,1213],{"align":929},"sensor_msgs/msg/FluidPressure",[940,1215,1216],{"align":929},"gz.msgs.FluidPressure",[924,1218,1219,1222],{},[940,1220,1221],{"align":929},"sensor_msgs/msg/Image",[940,1223,1224],{"align":929},"gz.msgs.Image",[924,1226,1227,1230],{},[940,1228,1229],{"align":929},"sensor_msgs/msg/Imu",[940,1231,1232],{"align":929},"gz.msgs.IMU",[924,1234,1235,1238],{},[940,1236,1237],{"align":929},"sensor_msgs/msg/JointState",[940,1239,1240],{"align":929},"gz.msgs.Model",[924,1242,1243,1246],{},[940,1244,1245],{"align":929},"sensor_msgs/msg/Joy",[940,1247,1248],{"align":929},"gz.msgs.Joy",[924,1250,1251,1254],{},[940,1252,1253],{"align":929},"sensor_msgs/msg/LaserScan",[940,1255,1256],{"align":929},"gz.msgs.LaserScan",[924,1258,1259,1262],{},[940,1260,1261],{"align":929},"sensor_msgs/msg/MagneticField",[940,1263,1264],{"align":929},"gz.msgs.Magnetometer",[924,1266,1267,1270],{},[940,1268,1269],{"align":929},"sensor_msgs/msg/NavSatFix",[940,1271,1272],{"align":929},"gz.msgs.NavSat",[924,1274,1275,1278],{},[940,1276,1277],{"align":929},"sensor_msgs/msg/PointCloud2",[940,1279,1280],{"align":929},"gz.msgs.PointCloudPacked",[924,1282,1283,1286],{},[940,1284,1285],{"align":929},"std_msgs/msg/Bool",[940,1287,1288],{"align":929},"gz.msgs.Boolean",[924,1290,1291,1294],{},[940,1292,1293],{"align":929},"std_msgs/msg/ColorRGBA",[940,1295,1296],{"align":929},"gz.msgs.Color",[924,1298,1299,1302],{},[940,1300,1301],{"align":929},"std_msgs/msg/Empty",[940,1303,1304],{"align":929},"gz.msgs.Empty",[924,1306,1307,1310],{},[940,1308,1309],{"align":929},"std_msgs/msg/Float32",[940,1311,1312],{"align":929},"gz.msgs.Float",[924,1314,1315,1318],{},[940,1316,1317],{"align":929},"std_msgs/msg/Float64",[940,1319,1320],{"align":929},"gz.msgs.Double",[924,1322,1323,1326],{},[940,1324,1325],{"align":929},"std_msgs/msg/Header",[940,1327,1328],{"align":929},"gz.msgs.Header",[924,1330,1331,1334],{},[940,1332,1333],{"align":929},"std_msgs/msg/Int32",[940,1335,1336],{"align":929},"gz.msgs.Int32",[924,1338,1339,1342],{},[940,1340,1341],{"align":929},"std_msgs/msg/String",[940,1343,1344],{"align":929},"gz.msgs.StringMsg",[924,1346,1347,1350],{},[940,1348,1349],{"align":929},"std_msgs/msg/UInt32",[940,1351,1352],{"align":929},"gz.msgs.UInt32",[924,1354,1355,1358],{},[940,1356,1357],{"align":929},"tf2_msgs/msg/TFMessage",[940,1359,969],{"align":929},[924,1361,1362,1365],{},[940,1363,1364],{"align":929},"trajectory_msgs/msg/JointTrajectory",[940,1366,1367],{"align":929},"gz.msgs.JointTrajectory",[15,1369,1370],{},"以及服务消息类型对应表：",[918,1372,1373,1385],{},[921,1374,1375],{},[924,1376,1377,1379,1382],{},[927,1378,930],{"align":929},[927,1380,1381],{"align":929},"Gazebo 请求",[927,1383,1384],{"align":929},"Gazebo 响应",[935,1386,1387],{},[924,1388,1389,1392,1394],{},[940,1390,1391],{"align":929},"ros_gz_interfaces/srv/ControlWorld",[940,1393,1184],{"align":929},[940,1395,1288],{"align":929},[27,1397,1399],{"id":1398},"与ros2集成优化","与ROS2集成优化",[15,1401,1402,1403,1406],{},"在 ",[50,1404,1405],{},"Ignition Gazebo与ROS2集成"," 实现中需要在终端中使用不同的指令启动不同模块，该流程实现稍显复杂，本节将介绍如何以launch文件的方式进行优化。",[15,1408,1409],{},[50,1410,1411],{},"新建功能包",[15,1413,1414],{},"请首先调用如下指令创建一个功能包：",[102,1416,1418],{"className":104,"code":1417,"language":106,"meta":107,"style":107},"ros2 pkg create demo_gazebo_sim\n",[109,1419,1420],{"__ignoreMap":107},[112,1421,1422,1424,1427,1430],{"class":114,"line":115},[112,1423,263],{"class":132},[112,1425,1426],{"class":136}," pkg",[112,1428,1429],{"class":136}," create",[112,1431,1432],{"class":136}," demo_gazebo_sim\n",[15,1434,1435],{},[200,1436],{"alt":107,"src":1437},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1721.webp",[15,1439,1440],{},[50,1441,1442],{},"添加目录",[15,1444,1445],{},"在新建的功能包下添加目录： launch、rviz、world。并在CmakeLists.txt中添加如下代码：",[102,1447,1451],{"className":1448,"code":1449,"language":1450,"meta":107,"style":107},"language-cmake shiki shiki-themes github-light github-dark","install(DIRECTORY rviz world launch DESTINATION share/${PROJECT_NAME})\n","cmake",[109,1452,1453],{"__ignoreMap":107},[112,1454,1455,1458,1461,1464],{"class":114,"line":115},[112,1456,1457],{"class":765},"install",[112,1459,1460],{"class":146},"(DIRECTORY rviz world launch DESTINATION share/",[112,1462,1463],{"class":765},"${PROJECT_NAME}",[112,1465,1466],{"class":146},")\n",[15,1468,1469],{},"launch目录用于存储launch文件，rviz目录由于存储rviz2的配置文件，而world目录则用于存储Ignition Gazebo仿真环境的相关文件。",[15,1471,1472],{},[200,1473],{"alt":107,"src":1474},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1722.webp",[15,1476,1477],{},[50,1478,1479],{},"rviz目录中生成rviz2的配置文件",[15,1481,1482],{},"启动 rviz2，直接将默认配置保存至当前功能包的rviz目录，保存文件命名为sim.rviz。",[15,1484,1485],{},[200,1486],{"alt":107,"src":1487},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1723.webp",[15,1489,1490],{},[50,1491,1492],{},"复制world文件",[15,1494,1495,1496,1499],{},"在ignition安装路径下的worlds目录（",[109,1497,1498],{},"/usr/share/ignition/ignition-gazebo6/worlds","）中复制visualize_lidar.sdf文件至world目录。",[15,1501,1502],{},"如果该路径下没有，那可能在ROS的安装路径下：",[15,1504,1505],{},[109,1506,1507],{},"/opt/ros/jazzy/opt/gz_sim_vendor/share/gz/gz-sim8/worlds/",[15,1509,1510],{},"如果还没有的话，手动查找一下：",[102,1512,1514],{"className":104,"code":1513,"language":106,"meta":107,"style":107},"sudo find / -name \"visualize_lidar.sdf\"\n",[109,1515,1516],{"__ignoreMap":107},[112,1517,1518,1520,1523,1526,1529],{"class":114,"line":115},[112,1519,133],{"class":132},[112,1521,1522],{"class":136}," find",[112,1524,1525],{"class":136}," /",[112,1527,1528],{"class":576}," -name",[112,1530,1531],{"class":136}," \"visualize_lidar.sdf\"\n",[15,1533,1534],{},[200,1535],{"alt":107,"src":1536},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1724.webp",[15,1538,1539],{},[50,1540,1541],{},"编写launch文件",[15,1543,1544],{},"launch目录下新建launch文件gazebo_sim_demo.launch.py，并输入如下内容：",[102,1546,1550],{"className":1547,"code":1548,"language":1549,"meta":107,"style":107},"language-python shiki shiki-themes github-light github-dark","import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.conditions import IfCondition\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch.substitutions import LaunchConfiguration\n\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n this_pkg = get_package_share_directory('demo_gazebo_sim')\n pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')\n world_file = os.path.join(this_pkg,'world','visualize_lidar.sdf')\n\n gz_sim = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),\n launch_arguments={\n 'gz_args': '-r ' + world_file\n }.items(),\n )\n\n # RViz\n rviz = Node(\n package='rviz2',\n executable='rviz2',\n arguments=['-d', os.path.join(this_pkg, 'rviz', 'sim.rviz')],\n condition=IfCondition(LaunchConfiguration('rviz'))\n )\n\n # Bridge\n bridge = Node(\n package='ros_gz_bridge',\n executable='parameter_bridge',\n arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',\n '/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',\n '/model/vehicle_blue/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',\n ],\n parameters=[{'qos_overrides./model/vehicle_blue.subscriber.reliability': 'reliable'}],\n remappings=[\n ('/model/vehicle_blue/tf', '/tf'),\n ('/model/vehicle_blue/cmd_vel','cmd_vel')\n ],\n output='screen'\n )\n\n return LaunchDescription([\n gz_sim,\n DeclareLaunchArgument('rviz', default_value='true',\n description='Open RViz.'),\n bridge,\n rviz\n ])\n","python",[109,1551,1552,1560,1564,1577,1581,1593,1605,1616,1628,1640,1652,1656,1668,1672,1684,1689,1706,1721,1743,1748,1759,1765,1783,1795,1813,1819,1825,1830,1836,1847,1861,1873,1900,1916,1921,1926,1932,1942,1955,1968,1983,1991,1999,2005,2027,2038,2055,2070,2076,2087,2092,2097,2106,2112,2132,2145,2151,2157],{"__ignoreMap":107},[112,1553,1554,1557],{"class":114,"line":115},[112,1555,1556],{"class":765},"import",[112,1558,1559],{"class":146}," os\n",[112,1561,1562],{"class":114,"line":122},[112,1563,119],{"emptyLinePlaceholder":118},[112,1565,1566,1569,1572,1574],{"class":114,"line":129},[112,1567,1568],{"class":765},"from",[112,1570,1571],{"class":146}," ament_index_python.packages ",[112,1573,1556],{"class":765},[112,1575,1576],{"class":146}," get_package_share_directory\n",[112,1578,1579],{"class":114,"line":153},[112,1580,119],{"emptyLinePlaceholder":118},[112,1582,1583,1585,1588,1590],{"class":114,"line":158},[112,1584,1568],{"class":765},[112,1586,1587],{"class":146}," launch ",[112,1589,1556],{"class":765},[112,1591,1592],{"class":146}," LaunchDescription\n",[112,1594,1595,1597,1600,1602],{"class":114,"line":164},[112,1596,1568],{"class":765},[112,1598,1599],{"class":146}," launch.actions ",[112,1601,1556],{"class":765},[112,1603,1604],{"class":146}," DeclareLaunchArgument\n",[112,1606,1607,1609,1611,1613],{"class":114,"line":176},[112,1608,1568],{"class":765},[112,1610,1599],{"class":146},[112,1612,1556],{"class":765},[112,1614,1615],{"class":146}," IncludeLaunchDescription\n",[112,1617,1618,1620,1623,1625],{"class":114,"line":181},[112,1619,1568],{"class":765},[112,1621,1622],{"class":146}," launch.conditions ",[112,1624,1556],{"class":765},[112,1626,1627],{"class":146}," IfCondition\n",[112,1629,1630,1632,1635,1637],{"class":114,"line":187},[112,1631,1568],{"class":765},[112,1633,1634],{"class":146}," launch.launch_description_sources ",[112,1636,1556],{"class":765},[112,1638,1639],{"class":146}," PythonLaunchDescriptionSource\n",[112,1641,1642,1644,1647,1649],{"class":114,"line":434},[112,1643,1568],{"class":765},[112,1645,1646],{"class":146}," launch.substitutions ",[112,1648,1556],{"class":765},[112,1650,1651],{"class":146}," LaunchConfiguration\n",[112,1653,1654],{"class":114,"line":440},[112,1655,119],{"emptyLinePlaceholder":118},[112,1657,1658,1660,1663,1665],{"class":114,"line":446},[112,1659,1568],{"class":765},[112,1661,1662],{"class":146}," launch_ros.actions ",[112,1664,1556],{"class":765},[112,1666,1667],{"class":146}," Node\n",[112,1669,1670],{"class":114,"line":452},[112,1671,119],{"emptyLinePlaceholder":118},[112,1673,1675,1678,1681],{"class":114,"line":1674},14,[112,1676,1677],{"class":765},"def",[112,1679,1680],{"class":132}," generate_launch_description",[112,1682,1683],{"class":146},"():\n",[112,1685,1687],{"class":114,"line":1686},15,[112,1688,119],{"emptyLinePlaceholder":118},[112,1690,1692,1695,1698,1701,1704],{"class":114,"line":1691},16,[112,1693,1694],{"class":146}," this_pkg ",[112,1696,1697],{"class":765},"=",[112,1699,1700],{"class":146}," get_package_share_directory(",[112,1702,1703],{"class":136},"'demo_gazebo_sim'",[112,1705,1466],{"class":146},[112,1707,1709,1712,1714,1716,1719],{"class":114,"line":1708},17,[112,1710,1711],{"class":146}," pkg_ros_gz_sim ",[112,1713,1697],{"class":765},[112,1715,1700],{"class":146},[112,1717,1718],{"class":136},"'ros_gz_sim'",[112,1720,1466],{"class":146},[112,1722,1724,1727,1729,1732,1735,1738,1741],{"class":114,"line":1723},18,[112,1725,1726],{"class":146}," world_file ",[112,1728,1697],{"class":765},[112,1730,1731],{"class":146}," os.path.join(this_pkg,",[112,1733,1734],{"class":136},"'world'",[112,1736,1737],{"class":146},",",[112,1739,1740],{"class":136},"'visualize_lidar.sdf'",[112,1742,1466],{"class":146},[112,1744,1746],{"class":114,"line":1745},19,[112,1747,119],{"emptyLinePlaceholder":118},[112,1749,1751,1754,1756],{"class":114,"line":1750},20,[112,1752,1753],{"class":146}," gz_sim ",[112,1755,1697],{"class":765},[112,1757,1758],{"class":146}," IncludeLaunchDescription(\n",[112,1760,1762],{"class":114,"line":1761},21,[112,1763,1764],{"class":146}," PythonLaunchDescriptionSource(\n",[112,1766,1768,1771,1774,1777,1780],{"class":114,"line":1767},22,[112,1769,1770],{"class":146}," os.path.join(pkg_ros_gz_sim, ",[112,1772,1773],{"class":136},"'launch'",[112,1775,1776],{"class":146},", ",[112,1778,1779],{"class":136},"'gz_sim.launch.py'",[112,1781,1782],{"class":146},")),\n",[112,1784,1786,1790,1792],{"class":114,"line":1785},23,[112,1787,1789],{"class":1788},"s4XuR"," launch_arguments",[112,1791,1697],{"class":765},[112,1793,1794],{"class":146},"{\n",[112,1796,1798,1801,1804,1807,1810],{"class":114,"line":1797},24,[112,1799,1800],{"class":136}," 'gz_args'",[112,1802,1803],{"class":146},": ",[112,1805,1806],{"class":136},"'-r '",[112,1808,1809],{"class":765}," +",[112,1811,1812],{"class":146}," world_file\n",[112,1814,1816],{"class":114,"line":1815},25,[112,1817,1818],{"class":146}," }.items(),\n",[112,1820,1822],{"class":114,"line":1821},26,[112,1823,1824],{"class":146}," )\n",[112,1826,1828],{"class":114,"line":1827},27,[112,1829,119],{"emptyLinePlaceholder":118},[112,1831,1833],{"class":114,"line":1832},28,[112,1834,1835],{"class":125}," # RViz\n",[112,1837,1839,1842,1844],{"class":114,"line":1838},29,[112,1840,1841],{"class":146}," rviz ",[112,1843,1697],{"class":765},[112,1845,1846],{"class":146}," Node(\n",[112,1848,1850,1853,1855,1858],{"class":114,"line":1849},30,[112,1851,1852],{"class":1788}," package",[112,1854,1697],{"class":765},[112,1856,1857],{"class":136},"'rviz2'",[112,1859,1860],{"class":146},",\n",[112,1862,1864,1867,1869,1871],{"class":114,"line":1863},31,[112,1865,1866],{"class":1788}," executable",[112,1868,1697],{"class":765},[112,1870,1857],{"class":136},[112,1872,1860],{"class":146},[112,1874,1876,1879,1881,1883,1886,1889,1892,1894,1897],{"class":114,"line":1875},32,[112,1877,1878],{"class":1788}," arguments",[112,1880,1697],{"class":765},[112,1882,799],{"class":146},[112,1884,1885],{"class":136},"'-d'",[112,1887,1888],{"class":146},", os.path.join(this_pkg, ",[112,1890,1891],{"class":136},"'rviz'",[112,1893,1776],{"class":146},[112,1895,1896],{"class":136},"'sim.rviz'",[112,1898,1899],{"class":146},")],\n",[112,1901,1903,1906,1908,1911,1913],{"class":114,"line":1902},33,[112,1904,1905],{"class":1788}," condition",[112,1907,1697],{"class":765},[112,1909,1910],{"class":146},"IfCondition(LaunchConfiguration(",[112,1912,1891],{"class":136},[112,1914,1915],{"class":146},"))\n",[112,1917,1919],{"class":114,"line":1918},34,[112,1920,1824],{"class":146},[112,1922,1924],{"class":114,"line":1923},35,[112,1925,119],{"emptyLinePlaceholder":118},[112,1927,1929],{"class":114,"line":1928},36,[112,1930,1931],{"class":125}," # Bridge\n",[112,1933,1935,1938,1940],{"class":114,"line":1934},37,[112,1936,1937],{"class":146}," bridge ",[112,1939,1697],{"class":765},[112,1941,1846],{"class":146},[112,1943,1945,1948,1950,1953],{"class":114,"line":1944},38,[112,1946,1947],{"class":1788}," package",[112,1949,1697],{"class":765},[112,1951,1952],{"class":136},"'ros_gz_bridge'",[112,1954,1860],{"class":146},[112,1956,1958,1961,1963,1966],{"class":114,"line":1957},39,[112,1959,1960],{"class":1788}," executable",[112,1962,1697],{"class":765},[112,1964,1965],{"class":136},"'parameter_bridge'",[112,1967,1860],{"class":146},[112,1969,1971,1974,1976,1978,1981],{"class":114,"line":1970},40,[112,1972,1973],{"class":1788}," arguments",[112,1975,1697],{"class":765},[112,1977,799],{"class":146},[112,1979,1980],{"class":136},"'/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist'",[112,1982,1860],{"class":146},[112,1984,1986,1989],{"class":114,"line":1985},41,[112,1987,1988],{"class":136}," '/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry'",[112,1990,1860],{"class":146},[112,1992,1994,1997],{"class":114,"line":1993},42,[112,1995,1996],{"class":136}," '/model/vehicle_blue/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V'",[112,1998,1860],{"class":146},[112,2000,2002],{"class":114,"line":2001},43,[112,2003,2004],{"class":146}," ],\n",[112,2006,2008,2011,2013,2016,2019,2021,2024],{"class":114,"line":2007},44,[112,2009,2010],{"class":1788}," parameters",[112,2012,1697],{"class":765},[112,2014,2015],{"class":146},"[{",[112,2017,2018],{"class":136},"'qos_overrides./model/vehicle_blue.subscriber.reliability'",[112,2020,1803],{"class":146},[112,2022,2023],{"class":136},"'reliable'",[112,2025,2026],{"class":146},"}],\n",[112,2028,2030,2033,2035],{"class":114,"line":2029},45,[112,2031,2032],{"class":1788}," remappings",[112,2034,1697],{"class":765},[112,2036,2037],{"class":146},"[\n",[112,2039,2041,2044,2047,2049,2052],{"class":114,"line":2040},46,[112,2042,2043],{"class":146}," (",[112,2045,2046],{"class":136},"'/model/vehicle_blue/tf'",[112,2048,1776],{"class":146},[112,2050,2051],{"class":136},"'/tf'",[112,2053,2054],{"class":146},"),\n",[112,2056,2058,2060,2063,2065,2068],{"class":114,"line":2057},47,[112,2059,2043],{"class":146},[112,2061,2062],{"class":136},"'/model/vehicle_blue/cmd_vel'",[112,2064,1737],{"class":146},[112,2066,2067],{"class":136},"'cmd_vel'",[112,2069,1466],{"class":146},[112,2071,2073],{"class":114,"line":2072},48,[112,2074,2075],{"class":146}," ],\n",[112,2077,2079,2082,2084],{"class":114,"line":2078},49,[112,2080,2081],{"class":1788}," output",[112,2083,1697],{"class":765},[112,2085,2086],{"class":136},"'screen'\n",[112,2088,2090],{"class":114,"line":2089},50,[112,2091,1824],{"class":146},[112,2093,2095],{"class":114,"line":2094},51,[112,2096,119],{"emptyLinePlaceholder":118},[112,2098,2100,2103],{"class":114,"line":2099},52,[112,2101,2102],{"class":765}," return",[112,2104,2105],{"class":146}," LaunchDescription([\n",[112,2107,2109],{"class":114,"line":2108},53,[112,2110,2111],{"class":146}," gz_sim,\n",[112,2113,2115,2118,2120,2122,2125,2127,2130],{"class":114,"line":2114},54,[112,2116,2117],{"class":146}," DeclareLaunchArgument(",[112,2119,1891],{"class":136},[112,2121,1776],{"class":146},[112,2123,2124],{"class":1788},"default_value",[112,2126,1697],{"class":765},[112,2128,2129],{"class":136},"'true'",[112,2131,1860],{"class":146},[112,2133,2135,2138,2140,2143],{"class":114,"line":2134},55,[112,2136,2137],{"class":1788}," description",[112,2139,1697],{"class":765},[112,2141,2142],{"class":136},"'Open RViz.'",[112,2144,2054],{"class":146},[112,2146,2148],{"class":114,"line":2147},56,[112,2149,2150],{"class":146}," bridge,\n",[112,2152,2154],{"class":114,"line":2153},57,[112,2155,2156],{"class":146}," rviz\n",[112,2158,2160],{"class":114,"line":2159},58,[112,2161,2162],{"class":146}," ])\n",[15,2164,2165],{},"该launch文件中，启动了Ignition Gazebo仿真环境、通过ros_gz_bridge建立了仿真与ROS2的连接，并且启动了rviz2节点。其中建立连接时，实现了速度指令、里程计以及坐标变换等消息的转换。",[15,2167,2168],{},[200,2169],{"alt":107,"src":2170},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1725.webp",[15,2172,2173],{},[50,2174,2175],{},"构建",[15,2177,2178],{},"终端中进入当前工作空间，编译功能包：",[102,2180,2182],{"className":104,"code":2181,"language":106,"meta":107,"style":107},"colcon build --packages-select demo_gazebo_sim\n",[109,2183,2184],{"__ignoreMap":107},[112,2185,2186,2189,2192,2195],{"class":114,"line":115},[112,2187,2188],{"class":132},"colcon",[112,2190,2191],{"class":136}," build",[112,2193,2194],{"class":576}," --packages-select",[112,2196,1432],{"class":136},[15,2198,2199],{},[200,2200],{"alt":107,"src":2201},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1726.webp",[15,2203,2204],{},[50,2205,2206],{},"执行",[15,2208,2209],{},"终端中进入当前工作空间，调用如下指令执行launch文件：",[102,2211,2213],{"className":104,"code":2212,"language":106,"meta":107,"style":107},". install/setup.bash\nros2 launch demo_gazebo_sim gazebo_sim_demo.launch.py\n",[109,2214,2215,2223],{"__ignoreMap":107},[112,2216,2217,2220],{"class":114,"line":115},[112,2218,2219],{"class":576},".",[112,2221,2222],{"class":136}," install/setup.bash\n",[112,2224,2225,2227,2229,2232],{"class":114,"line":122},[112,2226,263],{"class":132},[112,2228,266],{"class":136},[112,2230,2231],{"class":136}," demo_gazebo_sim",[112,2233,2234],{"class":136}," gazebo_sim_demo.launch.py\n",[15,2236,2237],{},"新开终端，启动键盘控制节点：",[102,2239,2241],{"className":104,"code":2240,"language":106,"meta":107,"style":107},"ros2 run teleop_twist_keyboard teleop_twist_keyboard\n",[109,2242,2243],{"__ignoreMap":107},[112,2244,2245,2247,2249,2251],{"class":114,"line":115},[112,2246,263],{"class":132},[112,2248,663],{"class":136},[112,2250,711],{"class":136},[112,2252,2253],{"class":136}," teleop_twist_keyboard\n",[15,2255,2256,2257,2260,2261,2264,2265,2268],{},"再配置rviz2，将",[109,2258,2259],{},"Fixed Frame","设置为",[109,2262,2263],{},"vehicle_blue/odom","，添加TF插件，添加Odometry插件并将话题设置为",[109,2266,2267],{},"/model/vehicle_blue/odometry","，当通过键盘控制发送速度指令时，仿真环境的机器人开始运动，并且在rviz2中可以回显坐标变换以及里程计等消息。",[15,2270,2271],{},[200,2272],{"alt":107,"src":2273},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1727.webp",[27,2275,2277,2278],{"id":2276},"仿真环境创建-sdf文件","仿真环境创建 ",[50,2279,2280],{},"SDF文件",[15,2282,2283],{},"前面几节内容我们使用的是Ignition Gazebo内置的仿真环境，本节开始将介绍如何自行搭建仿真环境。本节案例将仿真一个长10m宽5m的矩形房间。该案例可以先启动Ignition Gazebo以拖拽的方式搭建仿真环境，然后再修改仿真环境对应的文件以调整细节。",[15,2285,2286],{},[50,2287,2288],{},"SDF、URDF 和 Xacro 的关系：",[310,2290,2291,2326],{},[313,2292,2293,2296],{},[50,2294,2295],{},"URDF 和 SDF 的区别：",[310,2297,2298,2304,2310,2316],{},[313,2299,2300,2303],{},[50,2301,2302],{},"复杂性："," SDF 支持的功能更强大，能够描述完整的仿真环境；URDF 更适合定义机器人模型。",[313,2305,2306,2309],{},[50,2307,2308],{},"用途："," URDF 是 ROS 的标准；SDF 是 Gazebo 的标准。",[313,2311,2312,2315],{},[50,2313,2314],{},"物理引擎支持："," URDF 通过插件支持 Gazebo；SDF 原生支持 Gazebo。",[313,2317,2318,2321,2322,2325],{},[50,2319,2320],{},"格式转换："," URDF 可以转换为 SDF（通过 ROS 提供的工具",[109,2323,2324],{},"gz sdf -p","）。",[313,2327,2328,2331],{},[50,2329,2330],{},"Xacro 的作用：",[310,2332,2333],{},[313,2334,2335],{},"Xacro 是 URDF 的生成工具，帮助用户高效编写 URDF 文件，但它与 SDF 无直接关系。",[2337,2338],"hr",{},[15,2340,2341],{},[50,2342,2343],{},"实践建议",[310,2345,2346,2352,2358],{},[313,2347,2348,2351],{},[50,2349,2350],{},"在 Gazebo 仿真中："," 如果你用的是 ROS 2 和 Gazebo，可以直接使用 SDF 文件，功能更强大。",[313,2353,2354,2357],{},[50,2355,2356],{},"在 ROS 中："," 如果主要用于机器人控制和规划，推荐使用 URDF 或由 Xacro 生成的 URDF。",[313,2359,2360,2363],{},[50,2361,2362],{},"两者结合："," 使用 URDF 进行控制，使用 SDF 进行仿真。例如，使用 URDF 定义机器人结构后，借助 Gazebo 插件将其转换为 SDF。",[15,2365,2366],{},[50,2367,2368],{},"示例对比",[15,2370,2371],{},"URDF 示例：",[102,2373,2377],{"className":2374,"code":2375,"language":2376,"meta":107,"style":107},"language-xml shiki shiki-themes github-light github-dark","\u003Crobot name=\"example_robot\">\n \u003Clink name=\"base_link\">\n \u003Cinertial>\n \u003Cmass value=\"1.0\" />\n \u003Cinertia ixx=\"1.0\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"1.0\" iyz=\"0.0\" izz=\"1.0\" />\n \u003C/inertial>\n \u003C/link>\n\u003C/robot>\n\n","xml",[109,2378,2379,2399,2416,2426,2445,2497,2506,2515],{"__ignoreMap":107},[112,2380,2381,2384,2388,2391,2393,2396],{"class":114,"line":115},[112,2382,2383],{"class":146},"\u003C",[112,2385,2387],{"class":2386},"s9eBZ","robot",[112,2389,2390],{"class":132}," name",[112,2392,1697],{"class":146},[112,2394,2395],{"class":136},"\"example_robot\"",[112,2397,2398],{"class":146},">\n",[112,2400,2401,2404,2407,2409,2411,2414],{"class":114,"line":122},[112,2402,2403],{"class":146}," \u003C",[112,2405,2406],{"class":2386},"link",[112,2408,2390],{"class":132},[112,2410,1697],{"class":146},[112,2412,2413],{"class":136},"\"base_link\"",[112,2415,2398],{"class":146},[112,2417,2418,2421,2424],{"class":114,"line":129},[112,2419,2420],{"class":146}," \u003C",[112,2422,2423],{"class":2386},"inertial",[112,2425,2398],{"class":146},[112,2427,2428,2431,2434,2437,2439,2442],{"class":114,"line":153},[112,2429,2430],{"class":146}," \u003C",[112,2432,2433],{"class":2386},"mass",[112,2435,2436],{"class":132}," value",[112,2438,1697],{"class":146},[112,2440,2441],{"class":136},"\"1.0\"",[112,2443,2444],{"class":146}," />\n",[112,2446,2447,2449,2452,2455,2457,2459,2462,2464,2467,2470,2472,2474,2477,2479,2481,2484,2486,2488,2491,2493,2495],{"class":114,"line":158},[112,2448,2430],{"class":146},[112,2450,2451],{"class":2386},"inertia",[112,2453,2454],{"class":132}," ixx",[112,2456,1697],{"class":146},[112,2458,2441],{"class":136},[112,2460,2461],{"class":132}," ixy",[112,2463,1697],{"class":146},[112,2465,2466],{"class":136},"\"0.0\"",[112,2468,2469],{"class":132}," ixz",[112,2471,1697],{"class":146},[112,2473,2466],{"class":136},[112,2475,2476],{"class":132}," iyy",[112,2478,1697],{"class":146},[112,2480,2441],{"class":136},[112,2482,2483],{"class":132}," iyz",[112,2485,1697],{"class":146},[112,2487,2466],{"class":136},[112,2489,2490],{"class":132}," izz",[112,2492,1697],{"class":146},[112,2494,2441],{"class":136},[112,2496,2444],{"class":146},[112,2498,2499,2502,2504],{"class":114,"line":164},[112,2500,2501],{"class":146}," \u003C/",[112,2503,2423],{"class":2386},[112,2505,2398],{"class":146},[112,2507,2508,2511,2513],{"class":114,"line":176},[112,2509,2510],{"class":146}," \u003C/",[112,2512,2406],{"class":2386},[112,2514,2398],{"class":146},[112,2516,2517,2520,2522],{"class":114,"line":181},[112,2518,2519],{"class":146},"\u003C/",[112,2521,2387],{"class":2386},[112,2523,2398],{"class":146},[15,2525,2526],{},"Xacro 示例（生成 URDF）：",[102,2528,2530],{"className":2374,"code":2529,"language":2376,"meta":107,"style":107},"\u003Cxacro:robot xmlns:xacro=\"http://www.ros.org/wiki/xacro\" name=\"example_robot\">\n \u003Cxacro:macro name=\"base_link\" params=\"mass\">\n \u003Clink name=\"base_link\">\n \u003Cinertial>\n \u003Cmass value=\"${mass}\" />\n \u003Cinertia ixx=\"1.0\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"1.0\" iyz=\"0.0\" izz=\"1.0\" />\n \u003C/inertial>\n \u003C/link>\n \u003C/xacro:macro>\n\n \u003Cxacro:base_link mass=\"1.0\" />\n\u003C/xacro:robot>\n",[109,2531,2532,2555,2578,2592,2600,2616,2660,2669,2677,2685,2689,2705],{"__ignoreMap":107},[112,2533,2534,2536,2539,2542,2544,2547,2549,2551,2553],{"class":114,"line":115},[112,2535,2383],{"class":146},[112,2537,2538],{"class":2386},"xacro:robot",[112,2540,2541],{"class":132}," xmlns:xacro",[112,2543,1697],{"class":146},[112,2545,2546],{"class":136},"\"http://www.ros.org/wiki/xacro\"",[112,2548,2390],{"class":132},[112,2550,1697],{"class":146},[112,2552,2395],{"class":136},[112,2554,2398],{"class":146},[112,2556,2557,2559,2562,2564,2566,2568,2571,2573,2576],{"class":114,"line":122},[112,2558,2403],{"class":146},[112,2560,2561],{"class":2386},"xacro:macro",[112,2563,2390],{"class":132},[112,2565,1697],{"class":146},[112,2567,2413],{"class":136},[112,2569,2570],{"class":132}," params",[112,2572,1697],{"class":146},[112,2574,2575],{"class":136},"\"mass\"",[112,2577,2398],{"class":146},[112,2579,2580,2582,2584,2586,2588,2590],{"class":114,"line":129},[112,2581,2420],{"class":146},[112,2583,2406],{"class":2386},[112,2585,2390],{"class":132},[112,2587,1697],{"class":146},[112,2589,2413],{"class":136},[112,2591,2398],{"class":146},[112,2593,2594,2596,2598],{"class":114,"line":153},[112,2595,2430],{"class":146},[112,2597,2423],{"class":2386},[112,2599,2398],{"class":146},[112,2601,2602,2605,2607,2609,2611,2614],{"class":114,"line":158},[112,2603,2604],{"class":146}," \u003C",[112,2606,2433],{"class":2386},[112,2608,2436],{"class":132},[112,2610,1697],{"class":146},[112,2612,2613],{"class":136},"\"${mass}\"",[112,2615,2444],{"class":146},[112,2617,2618,2620,2622,2624,2626,2628,2630,2632,2634,2636,2638,2640,2642,2644,2646,2648,2650,2652,2654,2656,2658],{"class":114,"line":164},[112,2619,2604],{"class":146},[112,2621,2451],{"class":2386},[112,2623,2454],{"class":132},[112,2625,1697],{"class":146},[112,2627,2441],{"class":136},[112,2629,2461],{"class":132},[112,2631,1697],{"class":146},[112,2633,2466],{"class":136},[112,2635,2469],{"class":132},[112,2637,1697],{"class":146},[112,2639,2466],{"class":136},[112,2641,2476],{"class":132},[112,2643,1697],{"class":146},[112,2645,2441],{"class":136},[112,2647,2483],{"class":132},[112,2649,1697],{"class":146},[112,2651,2466],{"class":136},[112,2653,2490],{"class":132},[112,2655,1697],{"class":146},[112,2657,2441],{"class":136},[112,2659,2444],{"class":146},[112,2661,2662,2665,2667],{"class":114,"line":176},[112,2663,2664],{"class":146}," \u003C/",[112,2666,2423],{"class":2386},[112,2668,2398],{"class":146},[112,2670,2671,2673,2675],{"class":114,"line":181},[112,2672,2501],{"class":146},[112,2674,2406],{"class":2386},[112,2676,2398],{"class":146},[112,2678,2679,2681,2683],{"class":114,"line":187},[112,2680,2510],{"class":146},[112,2682,2561],{"class":2386},[112,2684,2398],{"class":146},[112,2686,2687],{"class":114,"line":434},[112,2688,119],{"emptyLinePlaceholder":118},[112,2690,2691,2693,2696,2699,2701,2703],{"class":114,"line":440},[112,2692,2403],{"class":146},[112,2694,2695],{"class":2386},"xacro:base_link",[112,2697,2698],{"class":132}," mass",[112,2700,1697],{"class":146},[112,2702,2441],{"class":136},[112,2704,2444],{"class":146},[112,2706,2707,2709,2711],{"class":114,"line":446},[112,2708,2519],{"class":146},[112,2710,2538],{"class":2386},[112,2712,2398],{"class":146},[15,2714,2715],{},"SDF 示例：",[102,2717,2719],{"className":2374,"code":2718,"language":2376,"meta":107,"style":107},"\u003Csdf version=\"1.6\">\n \u003Cmodel name=\"example_robot\">\n \u003Clink name=\"base_link\">\n \u003Cinertial>\n \u003Cmass>1.0\u003C/mass>\n \u003Cinertia>\n \u003Cixx>1.0\u003C/ixx>\n \u003Ciyy>1.0\u003C/iyy>\n \u003Cizz>1.0\u003C/izz>\n \u003C/inertia>\n \u003C/inertial>\n \u003C/link>\n \u003C/model>\n\u003C/sdf>\n\n",[109,2720,2721,2738,2753,2767,2775,2788,2796,2810,2823,2836,2845,2853,2861,2869],{"__ignoreMap":107},[112,2722,2723,2725,2728,2731,2733,2736],{"class":114,"line":115},[112,2724,2383],{"class":146},[112,2726,2727],{"class":2386},"sdf",[112,2729,2730],{"class":132}," version",[112,2732,1697],{"class":146},[112,2734,2735],{"class":136},"\"1.6\"",[112,2737,2398],{"class":146},[112,2739,2740,2742,2745,2747,2749,2751],{"class":114,"line":122},[112,2741,2403],{"class":146},[112,2743,2744],{"class":2386},"model",[112,2746,2390],{"class":132},[112,2748,1697],{"class":146},[112,2750,2395],{"class":136},[112,2752,2398],{"class":146},[112,2754,2755,2757,2759,2761,2763,2765],{"class":114,"line":129},[112,2756,2420],{"class":146},[112,2758,2406],{"class":2386},[112,2760,2390],{"class":132},[112,2762,1697],{"class":146},[112,2764,2413],{"class":136},[112,2766,2398],{"class":146},[112,2768,2769,2771,2773],{"class":114,"line":153},[112,2770,2430],{"class":146},[112,2772,2423],{"class":2386},[112,2774,2398],{"class":146},[112,2776,2777,2779,2781,2784,2786],{"class":114,"line":158},[112,2778,2604],{"class":146},[112,2780,2433],{"class":2386},[112,2782,2783],{"class":146},">1.0\u003C/",[112,2785,2433],{"class":2386},[112,2787,2398],{"class":146},[112,2789,2790,2792,2794],{"class":114,"line":164},[112,2791,2604],{"class":146},[112,2793,2451],{"class":2386},[112,2795,2398],{"class":146},[112,2797,2798,2801,2804,2806,2808],{"class":114,"line":176},[112,2799,2800],{"class":146}," \u003C",[112,2802,2803],{"class":2386},"ixx",[112,2805,2783],{"class":146},[112,2807,2803],{"class":2386},[112,2809,2398],{"class":146},[112,2811,2812,2814,2817,2819,2821],{"class":114,"line":181},[112,2813,2800],{"class":146},[112,2815,2816],{"class":2386},"iyy",[112,2818,2783],{"class":146},[112,2820,2816],{"class":2386},[112,2822,2398],{"class":146},[112,2824,2825,2827,2830,2832,2834],{"class":114,"line":187},[112,2826,2800],{"class":146},[112,2828,2829],{"class":2386},"izz",[112,2831,2783],{"class":146},[112,2833,2829],{"class":2386},[112,2835,2398],{"class":146},[112,2837,2838,2841,2843],{"class":114,"line":434},[112,2839,2840],{"class":146}," \u003C/",[112,2842,2451],{"class":2386},[112,2844,2398],{"class":146},[112,2846,2847,2849,2851],{"class":114,"line":440},[112,2848,2664],{"class":146},[112,2850,2423],{"class":2386},[112,2852,2398],{"class":146},[112,2854,2855,2857,2859],{"class":114,"line":446},[112,2856,2501],{"class":146},[112,2858,2406],{"class":2386},[112,2860,2398],{"class":146},[112,2862,2863,2865,2867],{"class":114,"line":452},[112,2864,2510],{"class":146},[112,2866,2744],{"class":2386},[112,2868,2398],{"class":146},[112,2870,2871,2873,2875],{"class":114,"line":1674},[112,2872,2519],{"class":146},[112,2874,2727],{"class":2386},[112,2876,2398],{"class":146},[15,2878,2879],{},[50,2880,2881],{},"1.创建sdf文件",[15,2883,2884,2885,2888],{},"首先请调用指令",[109,2886,2887],{},"ign gazebo","启动Gazebo，选择Empty仿真环境，然后添加立方体，每一个立方体都对应一堵墙。",[15,2890,2891],{},"上下左右立方体box、box_1、box_2、box_3对应的坐标分别为(5.0,0.0,0.5)、(-5.0,0.0,0.5)、(0.0,2.5,0.5)、(0.0,-2.5,0.5)。",[15,2893,2894],{},"（以上坐标是指X，Y，Z坐标，没有旋转度）",[15,2896,2897],{},"保存文件到功能包的world目录下，保存的文件名称需要以.sdf为后缀，此处文件名为house.sdf。",[15,2899,2900],{},[200,2901],{"alt":107,"src":2902},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1728.webp",[15,2904,2905],{},[200,2906],{"alt":107,"src":2907},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1729.webp",[102,2909,2911],{"className":2374,"code":2910,"language":2376,"meta":107,"style":107},"\u003Csdf version='1.9'>\n \u003Cworld name='empty'>\n \u003Cphysics name='1ms' type='ignored'>\n \u003Cmax_step_size>0.001\u003C/max_step_size>\n \u003Creal_time_factor>1\u003C/real_time_factor>\n \u003Creal_time_update_rate>1000\u003C/real_time_update_rate>\n \u003C/physics>\n \u003Cplugin name='gz::sim::systems::Physics' filename='ignition-gazebo-physics-system'/>\n \u003Cplugin name='gz::sim::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>\n \u003Cplugin name='gz::sim::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>\n \u003Cplugin name='gz::sim::systems::Contact' filename='ignition-gazebo-contact-system'/>\n \u003Cgravity>0 0 -9.8\u003C/gravity>\n \u003Cmagnetic_field>6e-06 2.3e-05 -4.2e-05\u003C/magnetic_field>\n \u003Catmosphere type='adiabatic'/>\n \u003Cscene>\n \u003Cambient>0.4 0.4 0.4 1\u003C/ambient>\n \u003Cbackground>0.7 0.7 0.7 1\u003C/background>\n \u003Cshadows>true\u003C/shadows>\n \u003C/scene>\n \u003Cmodel name='ground_plane'>\n \u003Cstatic>true\u003C/static>\n \u003Clink name='link'>\n \u003Ccollision name='collision'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C/normal>\n \u003Csize>100 100\u003C/size>\n \u003C/plane>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='visual'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C/normal>\n \u003Csize>100 100\u003C/size>\n \u003C/plane>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.8 0.8 0.8 1\u003C/ambient>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C/diffuse>\n \u003Cspecular>0.8 0.8 0.8 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cinertial>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cmass>100\u003C/mass>\n \u003Cinertia>\n \u003Cixx>1\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>1\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>1\u003C/izz>\n \u003C/inertia>\n \u003C/inertial>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box'>\n \u003Cpose>5.0 0 0.5 -0 0 0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_0'>\n \u003Cpose>-5.0 -0 0.50000 -0 0 0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_1'>\n \u003Cpose>-0 -2.5 0.5 -0 -0 -0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_2'>\n \u003Cpose>-0 2.5 0.5 0 -0 -0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Clight name='sun' type='directional'>\n \u003Cpose>0 0 10 0 -0 0\u003C/pose>\n \u003Ccast_shadows>true\u003C/cast_shadows>\n \u003Cintensity>1\u003C/intensity>\n \u003Cdirection>-0.5 0.1 -0.9\u003C/direction>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C/diffuse>\n 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1 1\u003C/size>","修改为",[109,6160,6161],{},"\u003Csize>0.1 5 1\u003C/size>",[109,6163,6144],{},[109,6165,6147],{},[109,6167,6157],{},[109,6169,6170],{},"\u003Csize>10 0.1 1\u003C/size>","（",[6173,6174,6175],"em",{},"注意：每个",[109,6177,6130],{},[6173,6179,6180],{},"标签下，都包含两个",[109,6182,6183],{},"\u003Csize>",[6173,6185,6186],{},"标签，分别位于",[109,6188,6189],{},"\u003Ccollision>",[6173,6191,6192],{},"标签和",[109,6194,6195],{},"\u003Cvisual>",[6173,6197,6198],{},"标签下，两个",[109,6200,6183],{},[6173,6202,6203],{},"标签内容都需要修改",[15,6205,6206],{},"修改后与的house.sdf文件内容如下：",[102,6208,6210],{"className":2374,"code":6209,"language":2376,"meta":107,"style":107},"\u003Csdf version='1.9'>\n \u003Cworld name='empty'>\n \u003Cphysics name='1ms' type='ignored'>\n \u003Cmax_step_size>0.001\u003C/max_step_size>\n \u003Creal_time_factor>1\u003C/real_time_factor>\n \u003Creal_time_update_rate>1000\u003C/real_time_update_rate>\n \u003C/physics>\n \u003Cplugin name='ign::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>\n \u003Cplugin name='ign::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>\n \u003Cplugin name='ign::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>\n \u003Cplugin name='ign::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>\n \u003Cgravity>0 0 -9.8\u003C/gravity>\n \u003Cmagnetic_field>6e-06 2.3e-05 -4.2e-05\u003C/magnetic_field>\n \u003Catmosphere type='adiabatic'/>\n \u003Cscene>\n \u003Cambient>0.4 0.4 0.4 1\u003C/ambient>\n \u003Cbackground>0.7 0.7 0.7 1\u003C/background>\n \u003Cshadows>true\u003C/shadows>\n \u003C/scene>\n \u003Cmodel name='ground_plane'>\n \u003Cstatic>true\u003C/static>\n \u003Clink name='link'>\n \u003Ccollision name='collision'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C/normal>\n \u003Csize>100 100\u003C/size>\n \u003C/plane>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='visual'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C/normal>\n \u003Csize>100 100\u003C/size>\n \u003C/plane>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.8 0.8 0.8 1\u003C/ambient>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C/diffuse>\n \u003Cspecular>0.8 0.8 0.8 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cinertial>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cmass>100\u003C/mass>\n \u003Cinertia>\n \u003Cixx>1\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>1\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>1\u003C/izz>\n \u003C/inertia>\n \u003C/inertial>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box'>\n \u003Cpose>5.0 0 0.5 -0 0 0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_0'>\n \u003Cpose>-5.0 -0 0.50000 -0 0 0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_1'>\n \u003Cpose>-0 -2.5 0.5 -0 -0 -0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_2'>\n \u003Cpose>-0 2.5 0.5 0 -0 -0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Clight name='sun' type='directional'>\n \u003Cpose>0 0 10 0 -0 0\u003C/pose>\n \u003Ccast_shadows>true\u003C/cast_shadows>\n \u003Cintensity>1\u003C/intensity>\n \u003Cdirection>-0.5 0.1 -0.9\u003C/direction>\n 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os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\n\ndef generate_launch_description():\n\n this_pkg = get_package_share_directory('demo_gazebo_sim')\n pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')\n world_file = os.path.join(this_pkg,\"world\",\"house.sdf\")\n\n gz_sim = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),\n launch_arguments={\n 'gz_args': '-r ' + world_file\n }.items(),\n )\n return LaunchDescription([\n gz_sim\n ])\n",[109,9106,9107,9113,9117,9127,9131,9141,9151,9161,9165,9173,9177,9189,9201,9219,9223,9231,9235,9247,9255,9267,9271,9275,9281,9286],{"__ignoreMap":107},[112,9108,9109,9111],{"class":114,"line":115},[112,9110,1556],{"class":765},[112,9112,1559],{"class":146},[112,9114,9115],{"class":114,"line":122},[112,9116,119],{"emptyLinePlaceholder":118},[112,9118,9119,9121,9123,9125],{"class":114,"line":129},[112,9120,1568],{"class":765},[112,9122,1571],{"class":146},[112,9124,1556],{"class":765},[112,9126,1576],{"class":146},[112,9128,9129],{"class":114,"line":153},[112,9130,119],{"emptyLinePlaceholder":118},[112,9132,9133,9135,9137,9139],{"class":114,"line":158},[112,9134,1568],{"class":765},[112,9136,1587],{"class":146},[112,9138,1556],{"class":765},[112,9140,1592],{"class":146},[112,9142,9143,9145,9147,9149],{"class":114,"line":164},[112,9144,1568],{"class":765},[112,9146,1599],{"class":146},[112,9148,1556],{"class":765},[112,9150,1615],{"class":146},[112,9152,9153,9155,9157,9159],{"class":114,"line":176},[112,9154,1568],{"class":765},[112,9156,1634],{"class":146},[112,9158,1556],{"class":765},[112,9160,1639],{"class":146},[112,9162,9163],{"class":114,"line":181},[112,9164,119],{"emptyLinePlaceholder":118},[112,9166,9167,9169,9171],{"class":114,"line":187},[112,9168,1677],{"class":765},[112,9170,1680],{"class":132},[112,9172,1683],{"class":146},[112,9174,9175],{"class":114,"line":434},[112,9176,119],{"emptyLinePlaceholder":118},[112,9178,9179,9181,9183,9185,9187],{"class":114,"line":440},[112,9180,1694],{"class":146},[112,9182,1697],{"class":765},[112,9184,1700],{"class":146},[112,9186,1703],{"class":136},[112,9188,1466],{"class":146},[112,9190,9191,9193,9195,9197,9199],{"class":114,"line":446},[112,9192,1711],{"class":146},[112,9194,1697],{"class":765},[112,9196,1700],{"class":146},[112,9198,1718],{"class":136},[112,9200,1466],{"class":146},[112,9202,9203,9205,9207,9209,9212,9214,9217],{"class":114,"line":452},[112,9204,1726],{"class":146},[112,9206,1697],{"class":765},[112,9208,1731],{"class":146},[112,9210,9211],{"class":136},"\"world\"",[112,9213,1737],{"class":146},[112,9215,9216],{"class":136},"\"house.sdf\"",[112,9218,1466],{"class":146},[112,9220,9221],{"class":114,"line":1674},[112,9222,119],{"emptyLinePlaceholder":118},[112,9224,9225,9227,9229],{"class":114,"line":1686},[112,9226,1753],{"class":146},[112,9228,1697],{"class":765},[112,9230,1758],{"class":146},[112,9232,9233],{"class":114,"line":1691},[112,9234,1764],{"class":146},[112,9236,9237,9239,9241,9243,9245],{"class":114,"line":1708},[112,9238,1770],{"class":146},[112,9240,1773],{"class":136},[112,9242,1776],{"class":146},[112,9244,1779],{"class":136},[112,9246,1782],{"class":146},[112,9248,9249,9251,9253],{"class":114,"line":1723},[112,9250,1789],{"class":1788},[112,9252,1697],{"class":765},[112,9254,1794],{"class":146},[112,9256,9257,9259,9261,9263,9265],{"class":114,"line":1745},[112,9258,1800],{"class":136},[112,9260,1803],{"class":146},[112,9262,1806],{"class":136},[112,9264,1809],{"class":765},[112,9266,1812],{"class":146},[112,9268,9269],{"class":114,"line":1750},[112,9270,1818],{"class":146},[112,9272,9273],{"class":114,"line":1761},[112,9274,1824],{"class":146},[112,9276,9277,9279],{"class":114,"line":1767},[112,9278,2102],{"class":765},[112,9280,2105],{"class":146},[112,9282,9283],{"class":114,"line":1785},[112,9284,9285],{"class":146}," gz_sim\n",[112,9287,9288],{"class":114,"line":1797},[112,9289,2162],{"class":146},[15,9291,9292],{},[50,9293,9294],{},"4.构建",[15,9296,2178],{},[102,9298,9299],{"className":104,"code":2181,"language":106,"meta":107,"style":107},[109,9300,9301],{"__ignoreMap":107},[112,9302,9303,9305,9307,9309],{"class":114,"line":115},[112,9304,2188],{"class":132},[112,9306,2191],{"class":136},[112,9308,2194],{"class":576},[112,9310,1432],{"class":136},[15,9312,9313],{},[50,9314,9315],{},"5.执行",[15,9317,2209],{},[102,9319,9321],{"className":104,"code":9320,"language":106,"meta":107,"style":107},". install/setup.bash\nros2 launch demo_gazebo_sim gazebo_sim_world.launch.py\n",[109,9322,9323,9329],{"__ignoreMap":107},[112,9324,9325,9327],{"class":114,"line":115},[112,9326,2219],{"class":576},[112,9328,2222],{"class":136},[112,9330,9331,9333,9335,9337],{"class":114,"line":122},[112,9332,263],{"class":132},[112,9334,266],{"class":136},[112,9336,2231],{"class":136},[112,9338,9339],{"class":136}," gazebo_sim_world.launch.py\n",[15,9341,9342],{},"运行结果如下图所示。",[15,9344,9345],{},"也可以根据个人喜好，继续设计房间模型。",[15,9347,9348],{},[200,9349],{"alt":107,"src":9350},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1730.webp",[27,9352,9354],{"id":9353},"igng添加模型",[50,9355,9356],{},"IgnG添加模型",[15,9358,9359],{},"在Ignition Gazebo官网提供了许多仿真模型，可以自行下载并使用以优化仿真环境，使其更多样、美观且真实。",[15,9361,9362],{},[50,9363,9364],{},"资源下载",[15,9366,9367],{},"仿真Ignition Gazebo的官方模型链接：",[15,9369,9370],{},[55,9371,9372],{"href":9372,"rel":9373},"http://app.ignitionrobotics.org/fuel/models",[59],[15,9375,9376],{},"自行选择仿真模型点击进入详情页面，然后点击下载按钮即可将模型资源保存到本地。",[15,9378,9379],{},"在用户目录下新建ign_models目录，将下载的资源解压缩到该目录以作备用。",[15,9381,9382],{},[50,9383,9384],{},"资源配置",[15,9386,9387],{},"为了可以让Ignition Gazebo识别到模型资源，下一步还需要修改用户目录下的 .bashrc 文件，添加如下代码：",[102,9389,9391],{"className":104,"code":9390,"language":106,"meta":107,"style":107},"\n# Humble版本一般是下面的，但是有可能会更新，如果不生效，请尝试Jazzy的宏\nexport IGN_GAZEBO_RESOURCE_PATH=~/ign_models\n\n# Jazzy版本的宏改了，如下：\nexport GZ_SIM_RESOURCE_PATH=~/ign_models\n",[109,9392,9393,9397,9402,9416,9420,9425],{"__ignoreMap":107},[112,9394,9395],{"class":114,"line":115},[112,9396,119],{"emptyLinePlaceholder":118},[112,9398,9399],{"class":114,"line":122},[112,9400,9401],{"class":125},"# Humble版本一般是下面的，但是有可能会更新，如果不生效，请尝试Jazzy的宏\n",[112,9403,9404,9407,9410,9413],{"class":114,"line":129},[112,9405,9406],{"class":765},"export",[112,9408,9409],{"class":146}," IGN_GAZEBO_RESOURCE_PATH",[112,9411,9412],{"class":765},"=~",[112,9414,9415],{"class":146},"/ign_models\n",[112,9417,9418],{"class":114,"line":153},[112,9419,119],{"emptyLinePlaceholder":118},[112,9421,9422],{"class":114,"line":158},[112,9423,9424],{"class":125},"# Jazzy版本的宏改了，如下：\n",[112,9426,9427,9429,9432,9434],{"class":114,"line":164},[112,9428,9406],{"class":765},[112,9430,9431],{"class":146}," GZ_SIM_RESOURCE_PATH",[112,9433,9412],{"class":765},[112,9435,9415],{"class":146},[15,9437,9438],{},[55,9439,9440],{"href":9440,"rel":9441},"https://gazebosim.org/docs/latest/fuel_insert/",[59],[15,9443,9444],{},[50,9445,9446],{},"模型添加",[15,9448,9449,9450,9453,9454,9457,9458,9461,9462,9465],{},"终端下进入功能包demo_gazebo_sim的world目录，使用指令",[109,9451,9452],{},"ign gazebo house.sdf"," 或者",[109,9455,9456],{},"gz sim house.sdf","启动仿真环境，点击窗口右上的折叠按钮，搜索",[109,9459,9460],{},"Resource Spawner","并打开，点击",[109,9463,9464],{},"Local resources","并选择模型拖拽至仿真环境中。将修改后的内容保存至house.sdf文件。",[15,9467,9468],{},[200,9469],{"alt":107,"src":9470},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1731.webp",[15,9472,9473],{},"正常下载资源后，这个local resources这里就会显示了",[15,9475,9476],{},"house.sdf文件示例内容如下：",[102,9478,9480],{"className":2374,"code":9479,"language":2376,"meta":107,"style":107},"\u003Csdf version='1.9'>\n \u003Cworld name='empty'>\n \u003Cphysics name='1ms' type='ignored'>\n \u003Cmax_step_size>0.001\u003C/max_step_size>\n \u003Creal_time_factor>1\u003C/real_time_factor>\n \u003Creal_time_update_rate>1000\u003C/real_time_update_rate>\n \u003C/physics>\n \u003Cplugin name='gz::sim::systems::Physics' filename='ignition-gazebo-physics-system'/>\n \u003Cplugin name='gz::sim::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>\n \u003Cplugin name='gz::sim::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>\n \u003Cplugin name='gz::sim::systems::Contact' filename='ignition-gazebo-contact-system'/>\n \u003Cgravity>0 0 -9.8\u003C/gravity>\n \u003Cmagnetic_field>6e-06 2.3e-05 -4.2e-05\u003C/magnetic_field>\n \u003Catmosphere type='adiabatic'/>\n \u003Cscene>\n \u003Cambient>0.4 0.4 0.4 1\u003C/ambient>\n \u003Cbackground>0.7 0.7 0.7 1\u003C/background>\n \u003Cshadows>true\u003C/shadows>\n \u003C/scene>\n \u003Cmodel name='ground_plane'>\n \u003Cstatic>true\u003C/static>\n \u003Clink name='link'>\n \u003Ccollision name='collision'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C/normal>\n \u003Csize>100 100\u003C/size>\n \u003C/plane>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='visual'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C/normal>\n \u003Csize>100 100\u003C/size>\n \u003C/plane>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.8 0.8 0.8 1\u003C/ambient>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C/diffuse>\n \u003Cspecular>0.8 0.8 0.8 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cinertial>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cmass>100\u003C/mass>\n \u003Cinertia>\n \u003Cixx>1\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>1\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>1\u003C/izz>\n \u003C/inertia>\n \u003C/inertial>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box'>\n \u003Cpose>5.02632 -2e-06 0.500002 -0 4.4e-05 4.6e-05\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_0'>\n \u003Cpose>-5.01336 -0.00029 0.500002 0 -4.2e-05 -0.005335\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_1'>\n \u003Cpose>-0 -2.5 0.5 1e-06 0 0\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cmodel name='box_2'>\n \u003Cpose>-0.000154 2.52488 0.500821 -0.018068 -0 -0.003156\u003C/pose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C/ixx>\n \u003Cixy>0\u003C/ixy>\n \u003Cixz>0\u003C/ixz>\n \u003Ciyy>16.666\u003C/iyy>\n \u003Ciyz>0\u003C/iyz>\n \u003Cizz>16.666\u003C/izz>\n \u003C/inertia>\n \u003Cmass>100\u003C/mass>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003C/inertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code/>\n \u003C/friction>\n \u003Cbounce/>\n \u003Ccontact/>\n \u003C/surface>\n \u003C/collision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C/size>\n \u003C/box>\n \u003C/geometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C/ambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C/diffuse>\n \u003Cspecular>1 1 1 1\u003C/specular>\n \u003C/material>\n \u003C/visual>\n \u003Cpose>0 0 0 0 -0 0\u003C/pose>\n \u003Cenable_wind>false\u003C/enable_wind>\n \u003C/link>\n \u003Cstatic>false\u003C/static>\n \u003Cself_collide>false\u003C/self_collide>\n \u003C/model>\n \u003Cinclude>\n \u003Curi>file://Bed\u003C/uri>\n \u003Cname>Bed\u003C/name>\n \u003Cpose>2.82155 1.18752 0 0 -0 0\u003C/pose>\n \u003C/include>\n \u003Cinclude>\n \u003Curi>file://Office Desk\u003C/uri>\n \u003Cname>Desk\u003C/name>\n \u003Cpose>2.78306 -1.97796 0 0 -0 1.57\u003C/pose>\n \u003C/include>\n \u003Cinclude>\n \u003Curi>file://Bathtub\u003C/uri>\n \u003Cname>Bathtub\u003C/name>\n \u003Cpose>-3.87509 1.82783 0 0 -0 0\u003C/pose>\n \u003C/include>\n \u003Cinclude>\n \u003Curi>file://Vanity\u003C/uri>\n \u003Cname>Vanity\u003C/name>\n \u003Cpose>-2.5974 1.85613 -0.010992 0.021648 0 -1.57\u003C/pose>\n \u003C/include>\n \u003Cinclude>\n \u003Curi>file://Vanity\u003C/uri>\n \u003Cname>Vanity_1\u003C/name>\n \u003Cpose>-2.5974 0.634325 -0.010992 0.021648 0 -1.57\u003C/pose>\n \u003C/include>\n \u003Cinclude>\n \u003Curi>file://Dining Table\u003C/uri>\n \u003Cname>DiningTable\u003C/name>\n \u003Cpose>-0.374337 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0.634325 -0.010992 0.021648 0 -1.57\u003C/",[112,12400,3548],{"class":2386},[112,12402,2398],{"class":146},[112,12404,12406,12408,12410],{"class":114,"line":12405},281,[112,12407,2501],{"class":146},[112,12409,12138],{"class":2386},[112,12411,2398],{"class":146},[112,12413,12415,12417,12419],{"class":114,"line":12414},282,[112,12416,2420],{"class":146},[112,12418,12138],{"class":2386},[112,12420,2398],{"class":146},[112,12422,12424,12426,12428,12431,12433],{"class":114,"line":12423},283,[112,12425,2430],{"class":146},[112,12427,12147],{"class":2386},[112,12429,12430],{"class":146},">file://Dining Table\u003C/",[112,12432,12147],{"class":2386},[112,12434,2398],{"class":146},[112,12436,12438,12440,12442,12445,12447],{"class":114,"line":12437},284,[112,12439,2430],{"class":146},[112,12441,6134],{"class":2386},[112,12443,12444],{"class":146},">DiningTable\u003C/",[112,12446,6134],{"class":2386},[112,12448,2398],{"class":146},[112,12450,12452,12454,12456,12459,12461],{"class":114,"line":12451},285,[112,12453,2430],{"class":146},[112,12455,3548],{"class":2386},[112,12457,12458],{"class":146},">-0.374337 1.33602 0 0 0 -1.57\u003C/",[112,12460,3548],{"class":2386},[112,12462,2398],{"class":146},[112,12464,12466,12468,12470],{"class":114,"line":12465},286,[112,12467,2501],{"class":146},[112,12469,12138],{"class":2386},[112,12471,2398],{"class":146},[112,12473,12475,12477,12479],{"class":114,"line":12474},287,[112,12476,2420],{"class":146},[112,12478,12138],{"class":2386},[112,12480,2398],{"class":146},[112,12482,12484,12486,12488,12491,12493],{"class":114,"line":12483},288,[112,12485,2430],{"class":146},[112,12487,12147],{"class":2386},[112,12489,12490],{"class":146},">file://Chair\u003C/",[112,12492,12147],{"class":2386},[112,12494,2398],{"class":146},[112,12496,12498,12500,12502,12505,12507],{"class":114,"line":12497},289,[112,12499,2430],{"class":146},[112,12501,6134],{"class":2386},[112,12503,12504],{"class":146},">Chair\u003C/",[112,12506,6134],{"class":2386},[112,12508,2398],{"class":146},[112,12510,12512,12514,12516,12519,12521],{"class":114,"line":12511},290,[112,12513,2430],{"class":146},[112,12515,3548],{"class":2386},[112,12517,12518],{"class":146},">2.79762 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-1.92328 0.000119 -0 0 1.57\u003C/",[112,12580,3548],{"class":2386},[112,12582,2398],{"class":146},[112,12584,12586,12588,12590],{"class":114,"line":12585},296,[112,12587,2501],{"class":146},[112,12589,12138],{"class":2386},[112,12591,2398],{"class":146},[112,12593,12595,12597,12599,12601,12603,12605,12607,12609,12611],{"class":114,"line":12594},297,[112,12596,2420],{"class":146},[112,12598,5854],{"class":2386},[112,12600,2390],{"class":132},[112,12602,1697],{"class":146},[112,12604,5861],{"class":136},[112,12606,2960],{"class":132},[112,12608,1697],{"class":146},[112,12610,5868],{"class":136},[112,12612,2398],{"class":146},[112,12614,12616,12618,12620,12622,12624],{"class":114,"line":12615},298,[112,12617,2430],{"class":146},[112,12619,3548],{"class":2386},[112,12621,5880],{"class":146},[112,12623,3548],{"class":2386},[112,12625,2398],{"class":146},[112,12627,12629,12631,12633,12635,12637],{"class":114,"line":12628},299,[112,12630,2430],{"class":146},[112,12632,5892],{"class":2386},[112,12634,3199],{"class":146},[112,12636,5892],{"class":2386},[112,12638,2398],{"class":146},[112,12640,12642,12644,12646,12648,12650],{"class":114,"line":12641},300,[112,12643,2430],{"class":146},[112,12645,5906],{"class":2386},[112,12647,2991],{"class":146},[112,12649,5906],{"class":2386},[112,12651,2398],{"class":146},[112,12653,12655,12657,12659,12661,12663],{"class":114,"line":12654},301,[112,12656,2430],{"class":146},[112,12658,5920],{"class":2386},[112,12660,5923],{"class":146},[112,12662,5920],{"class":2386},[112,12664,2398],{"class":146},[112,12666,12668,12670,12672,12674,12676],{"class":114,"line":12667},302,[112,12669,2430],{"class":146},[112,12671,3506],{"class":2386},[112,12673,3495],{"class":146},[112,12675,3506],{"class":2386},[112,12677,2398],{"class":146},[112,12679,12681,12683,12685,12687,12689],{"class":114,"line":12680},303,[112,12682,2430],{"class":146},[112,12684,3519],{"class":2386},[112,12686,5950],{"class":146},[112,12688,3519],{"class":2386},[112,12690,2398],{"class":146},[112,12692,12694,12696,12698],{"class":114,"line":12693},304,[112,12695,2430],{"class":146},[112,12697,5962],{"class":2386},[112,12699,2398],{"class":146},[112,12701,12703,12705,12707,12709,12711],{"class":114,"line":12702},305,[112,12704,2604],{"class":146},[112,12706,5972],{"class":2386},[112,12708,3005],{"class":146},[112,12710,5972],{"class":2386},[112,12712,2398],{"class":146},[112,12714,12716,12718,12720,12722,12724],{"class":114,"line":12715},306,[112,12717,2604],{"class":146},[112,12719,5986],{"class":2386},[112,12721,5989],{"class":146},[112,12723,5986],{"class":2386},[112,12725,2398],{"class":146},[112,12727,12729,12731,12733,12735,12737],{"class":114,"line":12728},307,[112,12730,2604],{"class":146},[112,12732,6001],{"class":2386},[112,12734,6004],{"class":146},[112,12736,6001],{"class":2386},[112,12738,2398],{"class":146},[112,12740,12742,12744,12746,12748,12750],{"class":114,"line":12741},308,[112,12743,2604],{"class":146},[112,12745,6016],{"class":2386},[112,12747,2977],{"class":146},[112,12749,6016],{"class":2386},[112,12751,2398],{"class":146},[112,12753,12755,12757,12759],{"class":114,"line":12754},309,[112,12756,2664],{"class":146},[112,12758,5962],{"class":2386},[112,12760,2398],{"class":146},[112,12762,12764,12766,12768],{"class":114,"line":12763},310,[112,12765,2430],{"class":146},[112,12767,6039],{"class":2386},[112,12769,2398],{"class":146},[112,12771,12773,12775,12777,12779,12781],{"class":114,"line":12772},311,[112,12774,2604],{"class":146},[112,12776,6049],{"class":2386},[112,12778,3618],{"class":146},[112,12780,6049],{"class":2386},[112,12782,2398],{"class":146},[112,12784,12786,12788,12790,12792,12794],{"class":114,"line":12785},312,[112,12787,2604],{"class":146},[112,12789,6063],{"class":2386},[112,12791,3618],{"class":146},[112,12793,6063],{"class":2386},[112,12795,2398],{"class":146},[112,12797,12799,12801,12803,12805,12807],{"class":114,"line":12798},313,[112,12800,2604],{"class":146},[112,12802,6077],{"class":2386},[112,12804,3618],{"class":146},[112,12806,6077],{"class":2386},[112,12808,2398],{"class":146},[112,12810,12812,12814,12816],{"class":114,"line":12811},314,[112,12813,2664],{"class":146},[112,12815,6039],{"class":2386},[112,12817,2398],{"class":146},[112,12819,12821,12823,12825],{"class":114,"line":12820},315,[112,12822,2501],{"class":146},[112,12824,5854],{"class":2386},[112,12826,2398],{"class":146},[112,12828,12830,12832,12834],{"class":114,"line":12829},316,[112,12831,2510],{"class":146},[112,12833,2934],{"class":2386},[112,12835,2398],{"class":146},[112,12837,12839,12841,12843],{"class":114,"line":12838},317,[112,12840,2519],{"class":146},[112,12842,2727],{"class":2386},[112,12844,2398],{"class":146},[15,12846,12847],{},[50,12848,2175],{},[15,12850,2178],{},[102,12852,12853],{"className":104,"code":2181,"language":106,"meta":107,"style":107},[109,12854,12855],{"__ignoreMap":107},[112,12856,12857,12859,12861,12863],{"class":114,"line":115},[112,12858,2188],{"class":132},[112,12860,2191],{"class":136},[112,12862,2194],{"class":576},[112,12864,1432],{"class":136},[15,12866,12867],{},[50,12868,2206],{},[15,12870,2209],{},[102,12872,12873],{"className":104,"code":9320,"language":106,"meta":107,"style":107},[109,12874,12875,12881],{"__ignoreMap":107},[112,12876,12877,12879],{"class":114,"line":115},[112,12878,2219],{"class":576},[112,12880,2222],{"class":136},[112,12882,12883,12885,12887,12889],{"class":114,"line":122},[112,12884,263],{"class":132},[112,12886,266],{"class":136},[112,12888,2231],{"class":136},[112,12890,9339],{"class":136},[15,12892,9342],{},[15,12894,12895],{},[200,12896],{"alt":107,"src":12897},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1732.webp",[27,12899,12901],{"id":12900},"igng添加机器人","IgnG添加机器人",[15,12903,12904],{},"Ignition Gazebo中可以直接创建机器人模型，或者也可以加载ROS2中URDF格式的机器人模型，此处我们使用后者（也可以选择用自己的urdf小车，但是注意修改launch的路径）。",[15,12906,12907],{},"我没有用赵虚左老师的mycar_description，用的自己的小车模型，后面的一系列源码都在下方这个Github仓库中，需要的可以自行clone.",[15,12909,12910],{},[55,12911,12914],{"href":12912,"rel":12913},"https://github.com/tungchiahui/ROS2%5C_WS/tree/main/6.ws%5C_simulations",[59],"https://github.com/tungchiahui/ROS2\\_WS/tree/main/6.ws\\_simulations",[15,12916,12917],{},[50,12918,12919],{},"准备机器人模型功能包",[15,12921,12922],{},"复制机器人描述功能包mycar_description到工作空间的src目录，ign_models中新建mycar_description目录，并将功能包mycar_description下的mesh目录复制进ign_models中的mycar_description目录。",[15,12924,12925],{},[50,12926,12927],{},"机器人模型功能包下新建launch文件",[15,12929,12930],{},"新建launch文件mycar_desc_sim.launch.py，并输入如下内容：",[102,12932,12934],{"className":1547,"code":12933,"language":1549,"meta":107,"style":107},"from launch import LaunchDescription\nfrom launch_ros.actions import Node\nimport os\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch_ros.parameter_descriptions import ParameterValue\nfrom launch.substitutions import Command,LaunchConfiguration\nfrom launch.actions import DeclareLaunchArgument\n\n#示例： ros2 launch cpp06_urdf display.launch.py model:=`ros2 pkg prefix --share cpp06_urdf`/urdf/urdf/demo01_helloworld.urdf\ndef generate_launch_description():\n\n MYCAR_MODEL = os.environ['MYCAR_MODEL']\n\n mycar_description = get_package_share_directory(\"mycar_description\")\n default_model_path = os.path.join(mycar_description,\"urdf\",MYCAR_MODEL + \".urdf\")\n model = DeclareLaunchArgument(name=\"model\", default_value=default_model_path)\n\n # 加载机器人模型\n\n # 启动 robot_state_publisher 节点并以参数方式加载 urdf 文件\n robot_description = ParameterValue(Command([\"xacro \",LaunchConfiguration(\"model\")]))\n robot_state_publisher = Node(\n package=\"robot_state_publisher\",\n executable=\"robot_state_publisher\",\n parameters=[{\"robot_description\": robot_description}]\n )\n\n return LaunchDescription([\n model,\n robot_state_publisher,\n ])\n",[109,12935,12936,12946,12956,12962,12972,12984,12995,13005,13009,13014,13022,13026,13043,13047,13061,13086,13112,13116,13121,13125,13130,13151,13160,13171,13181,13195,13199,13203,13209,13214,13219],{"__ignoreMap":107},[112,12937,12938,12940,12942,12944],{"class":114,"line":115},[112,12939,1568],{"class":765},[112,12941,1587],{"class":146},[112,12943,1556],{"class":765},[112,12945,1592],{"class":146},[112,12947,12948,12950,12952,12954],{"class":114,"line":122},[112,12949,1568],{"class":765},[112,12951,1662],{"class":146},[112,12953,1556],{"class":765},[112,12955,1667],{"class":146},[112,12957,12958,12960],{"class":114,"line":129},[112,12959,1556],{"class":765},[112,12961,1559],{"class":146},[112,12963,12964,12966,12968,12970],{"class":114,"line":153},[112,12965,1568],{"class":765},[112,12967,1571],{"class":146},[112,12969,1556],{"class":765},[112,12971,1576],{"class":146},[112,12973,12974,12976,12979,12981],{"class":114,"line":158},[112,12975,1568],{"class":765},[112,12977,12978],{"class":146}," launch_ros.parameter_descriptions ",[112,12980,1556],{"class":765},[112,12982,12983],{"class":146}," ParameterValue\n",[112,12985,12986,12988,12990,12992],{"class":114,"line":164},[112,12987,1568],{"class":765},[112,12989,1646],{"class":146},[112,12991,1556],{"class":765},[112,12993,12994],{"class":146}," Command,LaunchConfiguration\n",[112,12996,12997,12999,13001,13003],{"class":114,"line":176},[112,12998,1568],{"class":765},[112,13000,1599],{"class":146},[112,13002,1556],{"class":765},[112,13004,1604],{"class":146},[112,13006,13007],{"class":114,"line":181},[112,13008,119],{"emptyLinePlaceholder":118},[112,13010,13011],{"class":114,"line":187},[112,13012,13013],{"class":125},"#示例： ros2 launch cpp06_urdf display.launch.py model:=`ros2 pkg prefix --share cpp06_urdf`/urdf/urdf/demo01_helloworld.urdf\n",[112,13015,13016,13018,13020],{"class":114,"line":434},[112,13017,1677],{"class":765},[112,13019,1680],{"class":132},[112,13021,1683],{"class":146},[112,13023,13024],{"class":114,"line":440},[112,13025,119],{"emptyLinePlaceholder":118},[112,13027,13028,13031,13034,13037,13040],{"class":114,"line":446},[112,13029,13030],{"class":576}," MYCAR_MODEL",[112,13032,13033],{"class":765}," =",[112,13035,13036],{"class":146}," os.environ[",[112,13038,13039],{"class":136},"'MYCAR_MODEL'",[112,13041,13042],{"class":146},"]\n",[112,13044,13045],{"class":114,"line":452},[112,13046,119],{"emptyLinePlaceholder":118},[112,13048,13049,13052,13054,13056,13059],{"class":114,"line":1674},[112,13050,13051],{"class":146}," mycar_description ",[112,13053,1697],{"class":765},[112,13055,1700],{"class":146},[112,13057,13058],{"class":136},"\"mycar_description\"",[112,13060,1466],{"class":146},[112,13062,13063,13066,13068,13071,13074,13076,13079,13081,13084],{"class":114,"line":1686},[112,13064,13065],{"class":146}," default_model_path ",[112,13067,1697],{"class":765},[112,13069,13070],{"class":146}," os.path.join(mycar_description,",[112,13072,13073],{"class":136},"\"urdf\"",[112,13075,1737],{"class":146},[112,13077,13078],{"class":576},"MYCAR_MODEL",[112,13080,1809],{"class":765},[112,13082,13083],{"class":136}," \".urdf\"",[112,13085,1466],{"class":146},[112,13087,13088,13091,13093,13096,13098,13100,13103,13105,13107,13109],{"class":114,"line":1691},[112,13089,13090],{"class":146}," model ",[112,13092,1697],{"class":765},[112,13094,13095],{"class":146}," DeclareLaunchArgument(",[112,13097,6134],{"class":1788},[112,13099,1697],{"class":765},[112,13101,13102],{"class":136},"\"model\"",[112,13104,1776],{"class":146},[112,13106,2124],{"class":1788},[112,13108,1697],{"class":765},[112,13110,13111],{"class":146},"default_model_path)\n",[112,13113,13114],{"class":114,"line":1708},[112,13115,119],{"emptyLinePlaceholder":118},[112,13117,13118],{"class":114,"line":1723},[112,13119,13120],{"class":125}," # 加载机器人模型\n",[112,13122,13123],{"class":114,"line":1745},[112,13124,119],{"emptyLinePlaceholder":118},[112,13126,13127],{"class":114,"line":1750},[112,13128,13129],{"class":125}," # 启动 robot_state_publisher 节点并以参数方式加载 urdf 文件\n",[112,13131,13132,13135,13137,13140,13143,13146,13148],{"class":114,"line":1761},[112,13133,13134],{"class":146}," robot_description ",[112,13136,1697],{"class":765},[112,13138,13139],{"class":146}," ParameterValue(Command([",[112,13141,13142],{"class":136},"\"xacro \"",[112,13144,13145],{"class":146},",LaunchConfiguration(",[112,13147,13102],{"class":136},[112,13149,13150],{"class":146},")]))\n",[112,13152,13153,13156,13158],{"class":114,"line":1767},[112,13154,13155],{"class":146}," robot_state_publisher ",[112,13157,1697],{"class":765},[112,13159,1846],{"class":146},[112,13161,13162,13164,13166,13169],{"class":114,"line":1785},[112,13163,1947],{"class":1788},[112,13165,1697],{"class":765},[112,13167,13168],{"class":136},"\"robot_state_publisher\"",[112,13170,1860],{"class":146},[112,13172,13173,13175,13177,13179],{"class":114,"line":1797},[112,13174,1960],{"class":1788},[112,13176,1697],{"class":765},[112,13178,13168],{"class":136},[112,13180,1860],{"class":146},[112,13182,13183,13185,13187,13189,13192],{"class":114,"line":1815},[112,13184,2010],{"class":1788},[112,13186,1697],{"class":765},[112,13188,2015],{"class":146},[112,13190,13191],{"class":136},"\"robot_description\"",[112,13193,13194],{"class":146},": robot_description}]\n",[112,13196,13197],{"class":114,"line":1821},[112,13198,1824],{"class":146},[112,13200,13201],{"class":114,"line":1827},[112,13202,119],{"emptyLinePlaceholder":118},[112,13204,13205,13207],{"class":114,"line":1832},[112,13206,2102],{"class":765},[112,13208,2105],{"class":146},[112,13210,13211],{"class":114,"line":1838},[112,13212,13213],{"class":146}," model,\n",[112,13215,13216],{"class":114,"line":1849},[112,13217,13218],{"class":146}," robot_state_publisher,\n",[112,13220,13221],{"class":114,"line":1863},[112,13222,2162],{"class":146},[15,13224,13225],{},"较之于以往该文件缺少了joint_state_publisher节点，该节点作用是发布活动关节状态，这一功能后续由ignition实现。",[15,13227,13228],{},[50,13229,13230],{},"添加机器人模型",[15,13232,13233],{},"修改gazebo_sim_world.launch.py文件，包含机器人模型的发布文件并在Gazebo中生成机器人模型，修改后的代码如下：",[102,13235,13237],{"className":1547,"code":13236,"language":1549,"meta":107,"style":107},"import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n this_pkg = get_package_share_directory(\"demo_gazebo_sim\")\n mycar_desc_pkg = get_package_share_directory(\"mycar_description\")\n pkg_ros_gz_sim = get_package_share_directory(\"ros_gz_sim\")\n world_file = os.path.join(this_pkg,\"world\",\"house.sdf\")\n\n gz_sim = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(pkg_ros_gz_sim, \"launch\", \"gz_sim.launch.py\")),\n launch_arguments={\n \"gz_args\": \"-r \" + world_file\n }.items(),\n )\n mycar_desc = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(mycar_desc_pkg,\"launch\",\"mycar_desc_sim.launch.py\")\n )\n )\n spawn = Node(package=\"ros_gz_sim\", executable=\"create\",\n arguments=[\n \"-name\", \"mycar\",\n \"-x\", \"0\",\n \"-z\", \"0.01\", #设置为0,可能会陷进地里\n \"-y\", \"0\",\n \"-topic\", \"/robot_description\"],\n output=\"screen\")\n\n return LaunchDescription([\n gz_sim,\n spawn,\n mycar_desc,\n ])\n",[109,13238,13239,13245,13249,13259,13263,13273,13283,13293,13303,13307,13315,13319,13332,13345,13358,13374,13378,13386,13390,13404,13412,13426,13430,13434,13443,13447,13461,13466,13470,13499,13508,13520,13532,13547,13558,13571,13583,13587,13593,13597,13602,13607],{"__ignoreMap":107},[112,13240,13241,13243],{"class":114,"line":115},[112,13242,1556],{"class":765},[112,13244,1559],{"class":146},[112,13246,13247],{"class":114,"line":122},[112,13248,119],{"emptyLinePlaceholder":118},[112,13250,13251,13253,13255,13257],{"class":114,"line":129},[112,13252,1568],{"class":765},[112,13254,1571],{"class":146},[112,13256,1556],{"class":765},[112,13258,1576],{"class":146},[112,13260,13261],{"class":114,"line":153},[112,13262,119],{"emptyLinePlaceholder":118},[112,13264,13265,13267,13269,13271],{"class":114,"line":158},[112,13266,1568],{"class":765},[112,13268,1587],{"class":146},[112,13270,1556],{"class":765},[112,13272,1592],{"class":146},[112,13274,13275,13277,13279,13281],{"class":114,"line":164},[112,13276,1568],{"class":765},[112,13278,1599],{"class":146},[112,13280,1556],{"class":765},[112,13282,1615],{"class":146},[112,13284,13285,13287,13289,13291],{"class":114,"line":176},[112,13286,1568],{"class":765},[112,13288,1634],{"class":146},[112,13290,1556],{"class":765},[112,13292,1639],{"class":146},[112,13294,13295,13297,13299,13301],{"class":114,"line":181},[112,13296,1568],{"class":765},[112,13298,1662],{"class":146},[112,13300,1556],{"class":765},[112,13302,1667],{"class":146},[112,13304,13305],{"class":114,"line":187},[112,13306,119],{"emptyLinePlaceholder":118},[112,13308,13309,13311,13313],{"class":114,"line":434},[112,13310,1677],{"class":765},[112,13312,1680],{"class":132},[112,13314,1683],{"class":146},[112,13316,13317],{"class":114,"line":440},[112,13318,119],{"emptyLinePlaceholder":118},[112,13320,13321,13323,13325,13327,13330],{"class":114,"line":446},[112,13322,1694],{"class":146},[112,13324,1697],{"class":765},[112,13326,1700],{"class":146},[112,13328,13329],{"class":136},"\"demo_gazebo_sim\"",[112,13331,1466],{"class":146},[112,13333,13334,13337,13339,13341,13343],{"class":114,"line":452},[112,13335,13336],{"class":146}," mycar_desc_pkg ",[112,13338,1697],{"class":765},[112,13340,1700],{"class":146},[112,13342,13058],{"class":136},[112,13344,1466],{"class":146},[112,13346,13347,13349,13351,13353,13356],{"class":114,"line":1674},[112,13348,1711],{"class":146},[112,13350,1697],{"class":765},[112,13352,1700],{"class":146},[112,13354,13355],{"class":136},"\"ros_gz_sim\"",[112,13357,1466],{"class":146},[112,13359,13360,13362,13364,13366,13368,13370,13372],{"class":114,"line":1686},[112,13361,1726],{"class":146},[112,13363,1697],{"class":765},[112,13365,1731],{"class":146},[112,13367,9211],{"class":136},[112,13369,1737],{"class":146},[112,13371,9216],{"class":136},[112,13373,1466],{"class":146},[112,13375,13376],{"class":114,"line":1691},[112,13377,119],{"emptyLinePlaceholder":118},[112,13379,13380,13382,13384],{"class":114,"line":1708},[112,13381,1753],{"class":146},[112,13383,1697],{"class":765},[112,13385,1758],{"class":146},[112,13387,13388],{"class":114,"line":1723},[112,13389,1764],{"class":146},[112,13391,13392,13394,13397,13399,13402],{"class":114,"line":1745},[112,13393,1770],{"class":146},[112,13395,13396],{"class":136},"\"launch\"",[112,13398,1776],{"class":146},[112,13400,13401],{"class":136},"\"gz_sim.launch.py\"",[112,13403,1782],{"class":146},[112,13405,13406,13408,13410],{"class":114,"line":1750},[112,13407,1789],{"class":1788},[112,13409,1697],{"class":765},[112,13411,1794],{"class":146},[112,13413,13414,13417,13419,13422,13424],{"class":114,"line":1761},[112,13415,13416],{"class":136}," \"gz_args\"",[112,13418,1803],{"class":146},[112,13420,13421],{"class":136},"\"-r \"",[112,13423,1809],{"class":765},[112,13425,1812],{"class":146},[112,13427,13428],{"class":114,"line":1767},[112,13429,1818],{"class":146},[112,13431,13432],{"class":114,"line":1785},[112,13433,1824],{"class":146},[112,13435,13436,13439,13441],{"class":114,"line":1797},[112,13437,13438],{"class":146}," mycar_desc ",[112,13440,1697],{"class":765},[112,13442,1758],{"class":146},[112,13444,13445],{"class":114,"line":1815},[112,13446,1764],{"class":146},[112,13448,13449,13452,13454,13456,13459],{"class":114,"line":1821},[112,13450,13451],{"class":146}," os.path.join(mycar_desc_pkg,",[112,13453,13396],{"class":136},[112,13455,1737],{"class":146},[112,13457,13458],{"class":136},"\"mycar_desc_sim.launch.py\"",[112,13460,1466],{"class":146},[112,13462,13463],{"class":114,"line":1827},[112,13464,13465],{"class":146}," )\n",[112,13467,13468],{"class":114,"line":1832},[112,13469,1824],{"class":146},[112,13471,13472,13475,13477,13480,13483,13485,13487,13489,13492,13494,13497],{"class":114,"line":1838},[112,13473,13474],{"class":146}," spawn ",[112,13476,1697],{"class":765},[112,13478,13479],{"class":146}," Node(",[112,13481,13482],{"class":1788},"package",[112,13484,1697],{"class":765},[112,13486,13355],{"class":136},[112,13488,1776],{"class":146},[112,13490,13491],{"class":1788},"executable",[112,13493,1697],{"class":765},[112,13495,13496],{"class":136},"\"create\"",[112,13498,1860],{"class":146},[112,13500,13501,13504,13506],{"class":114,"line":1849},[112,13502,13503],{"class":1788}," arguments",[112,13505,1697],{"class":765},[112,13507,2037],{"class":146},[112,13509,13510,13513,13515,13518],{"class":114,"line":1863},[112,13511,13512],{"class":136}," \"-name\"",[112,13514,1776],{"class":146},[112,13516,13517],{"class":136},"\"mycar\"",[112,13519,1860],{"class":146},[112,13521,13522,13525,13527,13530],{"class":114,"line":1875},[112,13523,13524],{"class":136}," \"-x\"",[112,13526,1776],{"class":146},[112,13528,13529],{"class":136},"\"0\"",[112,13531,1860],{"class":146},[112,13533,13534,13537,13539,13542,13544],{"class":114,"line":1902},[112,13535,13536],{"class":136}," \"-z\"",[112,13538,1776],{"class":146},[112,13540,13541],{"class":136},"\"0.01\"",[112,13543,1776],{"class":146},[112,13545,13546],{"class":125},"#设置为0,可能会陷进地里\n",[112,13548,13549,13552,13554,13556],{"class":114,"line":1918},[112,13550,13551],{"class":136}," \"-y\"",[112,13553,1776],{"class":146},[112,13555,13529],{"class":136},[112,13557,1860],{"class":146},[112,13559,13560,13563,13565,13568],{"class":114,"line":1923},[112,13561,13562],{"class":136}," \"-topic\"",[112,13564,1776],{"class":146},[112,13566,13567],{"class":136},"\"/robot_description\"",[112,13569,13570],{"class":146},"],\n",[112,13572,13573,13576,13578,13581],{"class":114,"line":1928},[112,13574,13575],{"class":1788}," output",[112,13577,1697],{"class":765},[112,13579,13580],{"class":136},"\"screen\"",[112,13582,1466],{"class":146},[112,13584,13585],{"class":114,"line":1934},[112,13586,119],{"emptyLinePlaceholder":118},[112,13588,13589,13591],{"class":114,"line":1944},[112,13590,2102],{"class":765},[112,13592,2105],{"class":146},[112,13594,13595],{"class":114,"line":1957},[112,13596,2111],{"class":146},[112,13598,13599],{"class":114,"line":1970},[112,13600,13601],{"class":146}," spawn,\n",[112,13603,13604],{"class":114,"line":1985},[112,13605,13606],{"class":146}," mycar_desc,\n",[112,13608,13609],{"class":114,"line":1993},[112,13610,2162],{"class":146},[15,13612,13613],{},[50,13614,2175],{},[15,13616,2178],{},[102,13618,13620],{"className":104,"code":13619,"language":106,"meta":107,"style":107},"colcon build --packages-select mycar_description demo_gazebo_sim\n",[109,13621,13622],{"__ignoreMap":107},[112,13623,13624,13626,13628,13631,13634],{"class":114,"line":115},[112,13625,2188],{"class":132},[112,13627,2191],{"class":136},[112,13629,13630],{"class":576}," --packages-select",[112,13632,13633],{"class":136}," mycar_description",[112,13635,1432],{"class":136},[15,13637,13638],{},[50,13639,2206],{},[15,13641,13642],{},"终端中进入当前工作空间，调用如下指令执行launch文件：（执行起来有问题的话，你只要学过urdf怎么跑，应该拥有自我寻找错误的能力了，自己找吧）",[102,13644,13646],{"className":104,"code":13645,"language":106,"meta":107,"style":107},". install/setup.bash\n\n# MYCAR_MODEL值可以设置为arduino、stm32_2w 或stm32_4w（这个是具体的urdf文件名，在mycar_description包下的）\nexport MYCAR_MODEL=stm32_4w\nros2 launch demo_gazebo_sim gazebo_sim_world.launch.py\n",[109,13647,13648,13654,13658,13663,13675],{"__ignoreMap":107},[112,13649,13650,13652],{"class":114,"line":115},[112,13651,2219],{"class":576},[112,13653,2222],{"class":136},[112,13655,13656],{"class":114,"line":122},[112,13657,119],{"emptyLinePlaceholder":118},[112,13659,13660],{"class":114,"line":129},[112,13661,13662],{"class":125},"# MYCAR_MODEL值可以设置为arduino、stm32_2w 或stm32_4w（这个是具体的urdf文件名，在mycar_description包下的）\n",[112,13664,13665,13667,13670,13672],{"class":114,"line":153},[112,13666,9406],{"class":765},[112,13668,13669],{"class":146}," MYCAR_MODEL",[112,13671,1697],{"class":765},[112,13673,13674],{"class":146},"stm32_4w\n",[112,13676,13677,13679,13681,13683],{"class":114,"line":158},[112,13678,263],{"class":132},[112,13680,266],{"class":136},[112,13682,2231],{"class":136},[112,13684,9339],{"class":136},[15,13686,9342],{},[15,13688,13689],{},[200,13690],{"alt":107,"src":13691},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1733.webp",[27,13693,13695,13696],{"id":13694},"igng运动控制器实质上就是标签","   IgnG运动控制器(实质上就是",[13697,13698,13699],"gazebo",{},"标签)",[15,13701,13702],{},"本节将介绍如何让你的机器人动起来。",[15,13704,13705,13706],{},"原理就是给urdf或xacro等添加",[13697,13707,13708],{},"标签：",[15,13710,13711],{},[55,13712,13713],{"href":13713,"rel":13714},"http://sdformat.org/tutorials?tut=sdformat_urdf_extensions&cat=specification&",[59],[15,13716,13717],{},[200,13718],{"alt":107,"src":13719},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1734.webp",[15,13721,13722],{},[55,13723,13724],{"href":13724,"rel":13725},"https://gazebosim.org/api/plugin/2/index.html",[59],[15,13727,13728],{},"安装库：",[15,13730,13731],{},[55,13732,13733],{"href":13733,"rel":13734},"https://gazebosim.org/api/plugin/2/installation.html",[59],[102,13736,13738],{"className":104,"code":13737,"language":106,"meta":107,"style":107},"sudo apt-get update\nsudo apt-get install lsb-release\nsudo sh -c 'echo \"deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main\" > /etc/apt/sources.list.d/gazebo-stable.list'\nwget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -\nsudo apt-get update\nsudo apt install libgz-plugin2-dev\n",[109,13739,13740,13750,13761,13774,13803,13811],{"__ignoreMap":107},[112,13741,13742,13744,13747],{"class":114,"line":115},[112,13743,133],{"class":132},[112,13745,13746],{"class":136}," apt-get",[112,13748,13749],{"class":136}," update\n",[112,13751,13752,13754,13756,13758],{"class":114,"line":122},[112,13753,133],{"class":132},[112,13755,13746],{"class":136},[112,13757,140],{"class":136},[112,13759,13760],{"class":136}," lsb-release\n",[112,13762,13763,13765,13768,13771],{"class":114,"line":129},[112,13764,133],{"class":132},[112,13766,13767],{"class":136}," sh",[112,13769,13770],{"class":576}," -c",[112,13772,13773],{"class":136}," 'echo \"deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main\" > /etc/apt/sources.list.d/gazebo-stable.list'\n",[112,13775,13776,13779,13782,13785,13788,13791,13794,13797,13800],{"class":114,"line":153},[112,13777,13778],{"class":132},"wget",[112,13780,13781],{"class":136}," http://packages.osrfoundation.org/gazebo.key",[112,13783,13784],{"class":576}," -O",[112,13786,13787],{"class":136}," -",[112,13789,13790],{"class":765}," |",[112,13792,13793],{"class":132}," sudo",[112,13795,13796],{"class":136}," apt-key",[112,13798,13799],{"class":136}," add",[112,13801,13802],{"class":136}," -\n",[112,13804,13805,13807,13809],{"class":114,"line":158},[112,13806,133],{"class":132},[112,13808,13746],{"class":136},[112,13810,13749],{"class":136},[112,13812,13813,13815,13817,13819],{"class":114,"line":164},[112,13814,133],{"class":132},[112,13816,137],{"class":136},[112,13818,140],{"class":136},[112,13820,13821],{"class":136}," libgz-plugin2-dev\n",[15,13823,13824],{},"利用插件去让小车动，比如有两轮差速插件，四轮麦轮插件等等",[15,13826,13827],{},"同时该插件还提供了一些可以控制输出的选项，因为是仿真，所以还要告诉插件轮子对应的joint名称等信息，这样就有了下面这个参数表格：",[918,13829,13830,13840],{},[921,13831,13832],{},[924,13833,13834,13837],{},[927,13835,13836],{"align":929},"配置项",[927,13838,13839],{"align":929},"含义",[935,13841,13842,13850,13858,13866,13874,13882,13890,13898,13906,13914,13922,13930,13938],{},[924,13843,13844,13847],{},[940,13845,13846],{"align":929},"ros",[940,13848,13849],{"align":929},"ros相关配置，包含命名空间和话题重映射等",[924,13851,13852,13855],{},[940,13853,13854],{"align":929},"update_rate",[940,13856,13857],{"align":929},"数据更新速率",[924,13859,13860,13863],{},[940,13861,13862],{"align":929},"left_joint",[940,13864,13865],{"align":929},"左轮关节名称",[924,13867,13868,13871],{},[940,13869,13870],{"align":929},"right_joint",[940,13872,13873],{"align":929},"右轮关节名称",[924,13875,13876,13879],{},[940,13877,13878],{"align":929},"wheel_separation",[940,13880,13881],{"align":929},"左右轮子的间距",[924,13883,13884,13887],{},[940,13885,13886],{"align":929},"wheel_diameter",[940,13888,13889],{"align":929},"轮子的直径",[924,13891,13892,13895],{},[940,13893,13894],{"align":929},"max_wheel_torque",[940,13896,13897],{"align":929},"轮子最大的力矩",[924,13899,13900,13903],{},[940,13901,13902],{"align":929},"max_wheel_acceleration",[940,13904,13905],{"align":929},"轮子最大的加速度",[924,13907,13908,13911],{},[940,13909,13910],{"align":929},"publish_odom",[940,13912,13913],{"align":929},"是否发布里程计",[924,13915,13916,13919],{},[940,13917,13918],{"align":929},"publish_odom_tf",[940,13920,13921],{"align":929},"是否发布里程计的tf开关",[924,13923,13924,13927],{},[940,13925,13926],{"align":929},"publish_wheel_tf",[940,13928,13929],{"align":929},"是否发布轮子的tf数据开关",[924,13931,13932,13935],{},[940,13933,13934],{"align":929},"odometry_frame",[940,13936,13937],{"align":929},"里程计的framed ID，最终体现在话题和TF上",[924,13939,13940,13943],{},[940,13941,13942],{"align":929},"robot_base_frame",[940,13944,13945],{"align":929},"机器人的基础frame的ID",[15,13947,13948],{},[50,13949,13950],{},"修改URDF文件",[15,13952,13953,13954,13957],{},"arduino.urdf 和 stm32_2w.urdf 文件中，在",[109,13955,13956],{},"\u003Crobot>","根标签下添加如下代码：",[102,13959,13961],{"className":2374,"code":13960,"language":2376,"meta":107,"style":107},"\n \u003Cgazebo>\n \u003Cplugin filename=\"libignition-gazebo-diff-drive-system.so\"\n name=\"ignition::gazebo::systems::DiffDrive\">\n \u003Cleft_joint>left_joint\u003C/left_joint>\n \u003Cright_joint>right_joint\u003C/right_joint>\n \u003Cwheel_separation>0.2097\u003C/wheel_separation>\n \u003Cwheel_radius>0.03415\u003C/wheel_radius>\n \u003Codom_publish_frequency>10\u003C/odom_publish_frequency>\n \u003Cframe_id>odom\u003C/frame_id>\n \u003Cchild_frame_id>base_footprint\u003C/child_frame_id>\n \u003Ctopic>/cmd_vel\u003C/topic>\n \u003Cmax_linear_acceleration>10\u003C/max_linear_acceleration>\n \u003Cmin_linear_acceleration>-10\u003C/min_linear_acceleration>\n \u003Cmax_angular_acceleration>10\u003C/max_angular_acceleration>\n \u003Cmin_angular_acceleration>-10\u003C/min_angular_acceleration>\n \u003Cmax_linear_velocity>0.5\u003C/max_linear_velocity>\n \u003Cmin_linear_velocity>-0.5\u003C/min_linear_velocity>\n \u003Cmax_angular_velocity>1\u003C/max_angular_velocity>\n \u003Cmin_angular_velocity>-1\u003C/min_angular_velocity>\n \u003C/plugin>\n\n \u003C/gazebo>\n\n \u003Cgazebo>\n \u003Cplugin filename=\"ignition-gazebo-joint-state-publisher-system\"\n name=\"ignition::gazebo::systems::JointStatePublisher\">\n \u003C/plugin>\n \u003C/gazebo>\n",[109,13962,13963,13967,13975,13988,14000,14013,14026,14039,14053,14067,14081,14095,14109,14122,14136,14149,14162,14176,14190,14203,14217,14225,14229,14237,14241,14249,14262,14274,14282],{"__ignoreMap":107},[112,13964,13965],{"class":114,"line":115},[112,13966,119],{"emptyLinePlaceholder":118},[112,13968,13969,13971,13973],{"class":114,"line":122},[112,13970,2403],{"class":146},[112,13972,13697],{"class":2386},[112,13974,2398],{"class":146},[112,13976,13977,13979,13981,13983,13985],{"class":114,"line":129},[112,13978,2430],{"class":146},[112,13980,3024],{"class":2386},[112,13982,3034],{"class":132},[112,13984,1697],{"class":146},[112,13986,13987],{"class":136},"\"libignition-gazebo-diff-drive-system.so\"\n",[112,13989,13990,13993,13995,13998],{"class":114,"line":153},[112,13991,13992],{"class":132}," name",[112,13994,1697],{"class":146},[112,13996,13997],{"class":136},"\"ignition::gazebo::systems::DiffDrive\"",[112,13999,2398],{"class":146},[112,14001,14002,14004,14006,14009,14011],{"class":114,"line":158},[112,14003,2604],{"class":146},[112,14005,13862],{"class":2386},[112,14007,14008],{"class":146},">left_joint\u003C/",[112,14010,13862],{"class":2386},[112,14012,2398],{"class":146},[112,14014,14015,14017,14019,14022,14024],{"class":114,"line":164},[112,14016,2604],{"class":146},[112,14018,13870],{"class":2386},[112,14020,14021],{"class":146},">right_joint\u003C/",[112,14023,13870],{"class":2386},[112,14025,2398],{"class":146},[112,14027,14028,14030,14032,14035,14037],{"class":114,"line":176},[112,14029,2604],{"class":146},[112,14031,13878],{"class":2386},[112,14033,14034],{"class":146},">0.2097\u003C/",[112,14036,13878],{"class":2386},[112,14038,2398],{"class":146},[112,14040,14041,14043,14046,14049,14051],{"class":114,"line":181},[112,14042,2604],{"class":146},[112,14044,14045],{"class":2386},"wheel_radius",[112,14047,14048],{"class":146},">0.03415\u003C/",[112,14050,14045],{"class":2386},[112,14052,2398],{"class":146},[112,14054,14055,14057,14060,14063,14065],{"class":114,"line":187},[112,14056,2604],{"class":146},[112,14058,14059],{"class":2386},"odom_publish_frequency",[112,14061,14062],{"class":146},">10\u003C/",[112,14064,14059],{"class":2386},[112,14066,2398],{"class":146},[112,14068,14069,14071,14074,14077,14079],{"class":114,"line":434},[112,14070,2604],{"class":146},[112,14072,14073],{"class":2386},"frame_id",[112,14075,14076],{"class":146},">odom\u003C/",[112,14078,14073],{"class":2386},[112,14080,2398],{"class":146},[112,14082,14083,14085,14088,14091,14093],{"class":114,"line":440},[112,14084,2604],{"class":146},[112,14086,14087],{"class":2386},"child_frame_id",[112,14089,14090],{"class":146},">base_footprint\u003C/",[112,14092,14087],{"class":2386},[112,14094,2398],{"class":146},[112,14096,14097,14099,14102,14105,14107],{"class":114,"line":446},[112,14098,2604],{"class":146},[112,14100,14101],{"class":2386},"topic",[112,14103,14104],{"class":146},">/cmd_vel\u003C/",[112,14106,14101],{"class":2386},[112,14108,2398],{"class":146},[112,14110,14111,14113,14116,14118,14120],{"class":114,"line":452},[112,14112,2604],{"class":146},[112,14114,14115],{"class":2386},"max_linear_acceleration",[112,14117,14062],{"class":146},[112,14119,14115],{"class":2386},[112,14121,2398],{"class":146},[112,14123,14124,14126,14129,14132,14134],{"class":114,"line":1674},[112,14125,2604],{"class":146},[112,14127,14128],{"class":2386},"min_linear_acceleration",[112,14130,14131],{"class":146},">-10\u003C/",[112,14133,14128],{"class":2386},[112,14135,2398],{"class":146},[112,14137,14138,14140,14143,14145,14147],{"class":114,"line":1686},[112,14139,2604],{"class":146},[112,14141,14142],{"class":2386},"max_angular_acceleration",[112,14144,14062],{"class":146},[112,14146,14142],{"class":2386},[112,14148,2398],{"class":146},[112,14150,14151,14153,14156,14158,14160],{"class":114,"line":1691},[112,14152,2604],{"class":146},[112,14154,14155],{"class":2386},"min_angular_acceleration",[112,14157,14131],{"class":146},[112,14159,14155],{"class":2386},[112,14161,2398],{"class":146},[112,14163,14164,14166,14169,14172,14174],{"class":114,"line":1708},[112,14165,2604],{"class":146},[112,14167,14168],{"class":2386},"max_linear_velocity",[112,14170,14171],{"class":146},">0.5\u003C/",[112,14173,14168],{"class":2386},[112,14175,2398],{"class":146},[112,14177,14178,14180,14183,14186,14188],{"class":114,"line":1723},[112,14179,2604],{"class":146},[112,14181,14182],{"class":2386},"min_linear_velocity",[112,14184,14185],{"class":146},">-0.5\u003C/",[112,14187,14182],{"class":2386},[112,14189,2398],{"class":146},[112,14191,14192,14194,14197,14199,14201],{"class":114,"line":1745},[112,14193,2604],{"class":146},[112,14195,14196],{"class":2386},"max_angular_velocity",[112,14198,2991],{"class":146},[112,14200,14196],{"class":2386},[112,14202,2398],{"class":146},[112,14204,14205,14207,14210,14213,14215],{"class":114,"line":1750},[112,14206,2604],{"class":146},[112,14208,14209],{"class":2386},"min_angular_velocity",[112,14211,14212],{"class":146},">-1\u003C/",[112,14214,14209],{"class":2386},[112,14216,2398],{"class":146},[112,14218,14219,14221,14223],{"class":114,"line":1761},[112,14220,2664],{"class":146},[112,14222,3024],{"class":2386},[112,14224,2398],{"class":146},[112,14226,14227],{"class":114,"line":1767},[112,14228,119],{"emptyLinePlaceholder":118},[112,14230,14231,14233,14235],{"class":114,"line":1785},[112,14232,2510],{"class":146},[112,14234,13697],{"class":2386},[112,14236,2398],{"class":146},[112,14238,14239],{"class":114,"line":1797},[112,14240,119],{"emptyLinePlaceholder":118},[112,14242,14243,14245,14247],{"class":114,"line":1815},[112,14244,2403],{"class":146},[112,14246,13697],{"class":2386},[112,14248,2398],{"class":146},[112,14250,14251,14253,14255,14257,14259],{"class":114,"line":1821},[112,14252,2420],{"class":146},[112,14254,3024],{"class":2386},[112,14256,3034],{"class":132},[112,14258,1697],{"class":146},[112,14260,14261],{"class":136},"\"ignition-gazebo-joint-state-publisher-system\"\n",[112,14263,14264,14267,14269,14272],{"class":114,"line":1827},[112,14265,14266],{"class":132}," name",[112,14268,1697],{"class":146},[112,14270,14271],{"class":136},"\"ignition::gazebo::systems::JointStatePublisher\"",[112,14273,2398],{"class":146},[112,14275,14276,14278,14280],{"class":114,"line":1832},[112,14277,2501],{"class":146},[112,14279,3024],{"class":2386},[112,14281,2398],{"class":146},[112,14283,14284,14286,14288],{"class":114,"line":1838},[112,14285,2510],{"class":146},[112,14287,13697],{"class":2386},[112,14289,2398],{"class":146},[15,14291,14292,14293,13957],{},"stm32_4w.urdf 文件中，在",[109,14294,13956],{},[102,14296,14298],{"className":2374,"code":14297,"language":2376,"meta":107,"style":107},"\n\u003Cgazebo>\n \u003Cplugin\n filename=\"ignition-gazebo-diff-drive-system\"\n name=\"ignition::gazebo::systems::DiffDrive\">\n \u003Cleft_joint>left_former_joint\u003C/left_joint>\n \u003Cleft_joint>left_rear_joint\u003C/left_joint>\n \u003Cright_joint>right_former_joint\u003C/right_joint>\n \u003Cright_joint>right_rear_joint\u003C/right_joint>\n \u003Cwheel_separation>0.4\u003C/wheel_separation>\n \u003Cwheel_radius>0.0415\u003C/wheel_radius>\n \u003Codom_publish_frequency>50\u003C/odom_publish_frequency>\n \u003Cframe_id>odom\u003C/frame_id>\n \u003Cchild_frame_id>base_footprint\u003C/child_frame_id>\n \u003Ctopic>/cmd_vel\u003C/topic>\n \u003Cmax_linear_acceleration>10\u003C/max_linear_acceleration>\n \u003Cmin_linear_acceleration>-10\u003C/min_linear_acceleration>\n \u003Cmax_angular_acceleration>10\u003C/max_angular_acceleration>\n \u003Cmin_angular_acceleration>-10\u003C/min_angular_acceleration>\n \u003Cmax_linear_velocity>0.5\u003C/max_linear_velocity>\n \u003Cmin_linear_velocity>-0.5\u003C/min_linear_velocity>\n \u003Cmax_angular_velocity>1\u003C/max_angular_velocity>\n \u003Cmin_angular_velocity>-1\u003C/min_angular_velocity>\n \u003C/plugin>\n \u003C/gazebo>\n\n \u003Cgazebo>\n \u003Cplugin filename=\"ignition-gazebo-joint-state-publisher-system\"\n name=\"ignition::gazebo::systems::JointStatePublisher\">\n \u003C/plugin>\n \u003C/gazebo>\n",[109,14299,14300,14304,14312,14319,14329,14339,14352,14365,14378,14391,14404,14417,14430,14442,14454,14466,14478,14490,14502,14514,14526,14538,14550,14562,14570,14578,14582,14590,14602,14612,14620],{"__ignoreMap":107},[112,14301,14302],{"class":114,"line":115},[112,14303,119],{"emptyLinePlaceholder":118},[112,14305,14306,14308,14310],{"class":114,"line":122},[112,14307,2383],{"class":146},[112,14309,13697],{"class":2386},[112,14311,2398],{"class":146},[112,14313,14314,14316],{"class":114,"line":129},[112,14315,2420],{"class":146},[112,14317,14318],{"class":2386},"plugin\n",[112,14320,14321,14324,14326],{"class":114,"line":153},[112,14322,14323],{"class":132}," 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name=\"mycar\" xmlns:xacro=\"http://wiki.ros.org/xacro\">\n\n \u003Cxacro:macro name=\"joint_trans\" params=\"joint_name\">\n\n \u003Ctransmission name=\"${joint_name}_trans\">\n \u003Ctype>transmission_interface/SimpleTransmission\u003C/type>\n \u003Cjoint name=\"${joint_name}\">\n \u003ChardwareInterface>hardware_interface/VelocityJointInterface\u003C/hardwareInterface>\n \u003C/joint>\n \u003Cactuator name=\"${joint_name}_motor\">\n \u003ChardwareInterface>hardware_interface/VelocityJointInterface\u003C/hardwareInterface>\n \u003CmechanicalReduction>1\u003C/mechanicalReduction>\n \u003C/actuator>\n \u003C/transmission>\n \u003C/xacro:macro>\n\n \u003Cxacro:joint_trans joint_name=\"LeftFrontwheelToBase\" />\n \u003Cxacro:joint_trans joint_name=\"LeftBackwheelToBase\" />\n \u003Cxacro:joint_trans joint_name=\"RightFrontwheelToBase\" />\n \u003Cxacro:joint_trans joint_name=\"RightBackwheelToBase\" />\n\n \u003Cgazebo>\n \u003Cplugin name=\"mecanum_controller\" filename=\"libgazebo_ros_planar_move.so\">\n \u003CcommandTopic>cmd_vel\u003C/commandTopic>\n \u003CodometryTopic>odom\u003C/odometryTopic>\n \u003CodometryFrame>odom\u003C/odometryFrame>\n \u003CleftFrontJoint>LeftFrontwheelToBase\u003C/leftFrontJoint>\n \u003CrightFrontJoint>RightFrontwheelToBase\u003C/rightFrontJoint>\n \u003CleftRearJoint>LeftBackwheelToBase\u003C/leftRearJoint>\n \u003CrightRearJoint>RightBackwheelToBase\u003C/rightRearJoint>\n \u003CodometryRate>100\u003C/odometryRate>\n \u003CrobotBaseFrame>base_footprint\u003C/robotBaseFrame>\n \u003CbroadcastTF>1\u003C/broadcastTF>\n \u003C/plugin>\n 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joint_name",[112,14836,1697],{"class":146},[112,14838,14839],{"class":136},"\"LeftFrontwheelToBase\"",[112,14841,2444],{"class":146},[112,14843,14844,14846,14848,14850,14852,14855],{"class":114,"line":1723},[112,14845,2420],{"class":146},[112,14847,14831],{"class":2386},[112,14849,14834],{"class":132},[112,14851,1697],{"class":146},[112,14853,14854],{"class":136},"\"LeftBackwheelToBase\"",[112,14856,2444],{"class":146},[112,14858,14859,14861,14863,14865,14867,14870],{"class":114,"line":1745},[112,14860,2420],{"class":146},[112,14862,14831],{"class":2386},[112,14864,14834],{"class":132},[112,14866,1697],{"class":146},[112,14868,14869],{"class":136},"\"RightFrontwheelToBase\"",[112,14871,2444],{"class":146},[112,14873,14874,14876,14878,14880,14882,14885],{"class":114,"line":1750},[112,14875,2420],{"class":146},[112,14877,14831],{"class":2386},[112,14879,14834],{"class":132},[112,14881,1697],{"class":146},[112,14883,14884],{"class":136},"\"RightBackwheelToBase\"",[112,14886,2444],{"class":146},[112,14888,14889],{"class":114,"line":1761},[112,14890,119],{"emptyLinePlaceholder":118},[112,14892,14893,14895,14897],{"class":114,"line":1767},[112,14894,2420],{"class":146},[112,14896,13697],{"class":2386},[112,14898,2398],{"class":146},[112,14900,14901,14903,14905,14907,14909,14912,14914,14916,14919],{"class":114,"line":1785},[112,14902,2604],{"class":146},[112,14904,3024],{"class":2386},[112,14906,2390],{"class":132},[112,14908,1697],{"class":146},[112,14910,14911],{"class":136},"\"mecanum_controller\"",[112,14913,3034],{"class":132},[112,14915,1697],{"class":146},[112,14917,14918],{"class":136},"\"libgazebo_ros_planar_move.so\"",[112,14920,2398],{"class":146},[112,14922,14923,14925,14928,14931,14933],{"class":114,"line":1797},[112,14924,3284],{"class":146},[112,14926,14927],{"class":2386},"commandTopic",[112,14929,14930],{"class":146},">cmd_vel\u003C/",[112,14932,14927],{"class":2386},[112,14934,2398],{"class":146},[112,14936,14937,14939,14942,14944,14946],{"class":114,"line":1815},[112,14938,3284],{"class":146},[112,14940,14941],{"class":2386},"odometryTopic",[112,14943,14076],{"class":146},[112,14945,14941],{"class":2386},[112,14947,2398],{"class":146},[112,14949,14950,14952,14955,14957,14959],{"class":114,"line":1821},[112,14951,3284],{"class":146},[112,14953,14954],{"class":2386},"odometryFrame",[112,14956,14076],{"class":146},[112,14958,14954],{"class":2386},[112,14960,2398],{"class":146},[112,14962,14963,14965,14968,14971,14973],{"class":114,"line":1827},[112,14964,3284],{"class":146},[112,14966,14967],{"class":2386},"leftFrontJoint",[112,14969,14970],{"class":146},">LeftFrontwheelToBase\u003C/",[112,14972,14967],{"class":2386},[112,14974,2398],{"class":146},[112,14976,14977,14979,14982,14985,14987],{"class":114,"line":1832},[112,14978,3284],{"class":146},[112,14980,14981],{"class":2386},"rightFrontJoint",[112,14983,14984],{"class":146},">RightFrontwheelToBase\u003C/",[112,14986,14981],{"class":2386},[112,14988,2398],{"class":146},[112,14990,14991,14993,14996,14999,15001],{"class":114,"line":1838},[112,14992,3284],{"class":146},[112,14994,14995],{"class":2386},"leftRearJoint",[112,14997,14998],{"class":146},">LeftBackwheelToBase\u003C/",[112,15000,14995],{"class":2386},[112,15002,2398],{"class":146},[112,15004,15005,15007,15010,15013,15015],{"class":114,"line":1849},[112,15006,3284],{"class":146},[112,15008,15009],{"class":2386},"rightRearJoint",[112,15011,15012],{"class":146},">RightBackwheelToBase\u003C/",[112,15014,15009],{"class":2386},[112,15016,2398],{"class":146},[112,15018,15019,15021,15024,15026,15028],{"class":114,"line":1863},[112,15020,3284],{"class":146},[112,15022,15023],{"class":2386},"odometryRate",[112,15025,3584],{"class":146},[112,15027,15023],{"class":2386},[112,15029,2398],{"class":146},[112,15031,15032,15034,15037,15039,15041],{"class":114,"line":1875},[112,15033,3284],{"class":146},[112,15035,15036],{"class":2386},"robotBaseFrame",[112,15038,14090],{"class":146},[112,15040,15036],{"class":2386},[112,15042,2398],{"class":146},[112,15044,15045,15047,15050,15052,15054],{"class":114,"line":1902},[112,15046,3284],{"class":146},[112,15048,15049],{"class":2386},"broadcastTF",[112,15051,2991],{"class":146},[112,15053,15049],{"class":2386},[112,15055,2398],{"class":146},[112,15057,15058,15060,15062],{"class":114,"line":1918},[112,15059,2840],{"class":146},[112,15061,3024],{"class":2386},[112,15063,2398],{"class":146},[112,15065,15066,15068,15070],{"class":114,"line":1923},[112,15067,2501],{"class":146},[112,15069,13697],{"class":2386},[112,15071,2398],{"class":146},[112,15073,15074],{"class":114,"line":1928},[112,15075,119],{"emptyLinePlaceholder":118},[112,15077,15078,15080,15082],{"class":114,"line":1934},[112,15079,2519],{"class":146},[112,15081,2387],{"class":2386},[112,15083,2398],{"class":146},[15,15085,15086],{},[50,15087,15088],{},"修改launch文件",[15,15090,15091],{},"修改gazebo_sim_world.launch.py文件，修改后的代码如下：",[102,15093,15095],{"className":1547,"code":15094,"language":1549,"meta":107,"style":107},"import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n this_pkg = get_package_share_directory(\"demo_gazebo_sim\")\n mycar_desc_pkg = get_package_share_directory(\"mycar_description\")\n pkg_ros_gz_sim = get_package_share_directory(\"ros_gz_sim\")\n world_file = os.path.join(this_pkg,\"world\",\"base.sdf\")\n\n gz_sim = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(pkg_ros_gz_sim, \"launch\", \"gz_sim.launch.py\")),\n launch_arguments={\n \"gz_args\": \"-r \" + world_file\n }.items(),\n )\n mycar_desc = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(mycar_desc_pkg,\"launch\",\"mycar_desc_sim.launch.py\")\n )\n )\n spawn = Node(package=\"ros_gz_sim\", executable=\"create\",\n arguments=[\n \"-name\", \"mycar\",\n \"-x\", \"-4\",\n \"-z\", \"0.01\", #设置为0,可能会陷进地里\n \"-y\", \"0\",\n \"-topic\", \"/robot_description\"],\n output=\"screen\")\n\n # Bridge\n bridge = Node(\n package=\"ros_gz_bridge\",\n executable=\"parameter_bridge\",\n arguments=[\"/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist\",\n \"/model/mycar/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry\",\n \"/model/mycar/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V\",\n \"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock\",\n \"/world/empty/model/mycar/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model\",\n ],\n parameters=[{\"qos_overrides./model/mycar.subscriber.reliability\": \"reliable\"}],\n remappings=[\n (\"/model/mycar/tf\", \"/tf\"),\n (\"/world/empty/model/mycar/joint_state\",\"joint_states\"),\n (\"/model/mycar/odometry\",\"/odom\")\n ],\n output=\"screen\"\n )\n\n return LaunchDescription([\n gz_sim,\n spawn,\n mycar_desc,\n bridge\n ])\n",[109,15096,15097,15103,15107,15117,15121,15131,15141,15151,15161,15165,15173,15177,15189,15201,15213,15230,15234,15242,15246,15258,15266,15278,15282,15286,15294,15298,15310,15314,15318,15342,15350,15360,15371,15383,15393,15403,15413,15417,15421,15429,15440,15451,15464,15471,15478,15485,15492,15496,15514,15522,15536,15550,15564,15568,15577,15581,15585,15591,15595,15599,15603,15608],{"__ignoreMap":107},[112,15098,15099,15101],{"class":114,"line":115},[112,15100,1556],{"class":765},[112,15102,1559],{"class":146},[112,15104,15105],{"class":114,"line":122},[112,15106,119],{"emptyLinePlaceholder":118},[112,15108,15109,15111,15113,15115],{"class":114,"line":129},[112,15110,1568],{"class":765},[112,15112,1571],{"class":146},[112,15114,1556],{"class":765},[112,15116,1576],{"class":146},[112,15118,15119],{"class":114,"line":153},[112,15120,119],{"emptyLinePlaceholder":118},[112,15122,15123,15125,15127,15129],{"class":114,"line":158},[112,15124,1568],{"class":765},[112,15126,1587],{"class":146},[112,15128,1556],{"class":765},[112,15130,1592],{"class":146},[112,15132,15133,15135,15137,15139],{"class":114,"line":164},[112,15134,1568],{"class":765},[112,15136,1599],{"class":146},[112,15138,1556],{"class":765},[112,15140,1615],{"class":146},[112,15142,15143,15145,15147,15149],{"class":114,"line":176},[112,15144,1568],{"class":765},[112,15146,1634],{"class":146},[112,15148,1556],{"class":765},[112,15150,1639],{"class":146},[112,15152,15153,15155,15157,15159],{"class":114,"line":181},[112,15154,1568],{"class":765},[112,15156,1662],{"class":146},[112,15158,1556],{"class":765},[112,15160,1667],{"class":146},[112,15162,15163],{"class":114,"line":187},[112,15164,119],{"emptyLinePlaceholder":118},[112,15166,15167,15169,15171],{"class":114,"line":434},[112,15168,1677],{"class":765},[112,15170,1680],{"class":132},[112,15172,1683],{"class":146},[112,15174,15175],{"class":114,"line":440},[112,15176,119],{"emptyLinePlaceholder":118},[112,15178,15179,15181,15183,15185,15187],{"class":114,"line":446},[112,15180,1694],{"class":146},[112,15182,1697],{"class":765},[112,15184,1700],{"class":146},[112,15186,13329],{"class":136},[112,15188,1466],{"class":146},[112,15190,15191,15193,15195,15197,15199],{"class":114,"line":452},[112,15192,13336],{"class":146},[112,15194,1697],{"class":765},[112,15196,1700],{"class":146},[112,15198,13058],{"class":136},[112,15200,1466],{"class":146},[112,15202,15203,15205,15207,15209,15211],{"class":114,"line":1674},[112,15204,1711],{"class":146},[112,15206,1697],{"class":765},[112,15208,1700],{"class":146},[112,15210,13355],{"class":136},[112,15212,1466],{"class":146},[112,15214,15215,15217,15219,15221,15223,15225,15228],{"class":114,"line":1686},[112,15216,1726],{"class":146},[112,15218,1697],{"class":765},[112,15220,1731],{"class":146},[112,15222,9211],{"class":136},[112,15224,1737],{"class":146},[112,15226,15227],{"class":136},"\"base.sdf\"",[112,15229,1466],{"class":146},[112,15231,15232],{"class":114,"line":1691},[112,15233,119],{"emptyLinePlaceholder":118},[112,15235,15236,15238,15240],{"class":114,"line":1708},[112,15237,1753],{"class":146},[112,15239,1697],{"class":765},[112,15241,1758],{"class":146},[112,15243,15244],{"class":114,"line":1723},[112,15245,1764],{"class":146},[112,15247,15248,15250,15252,15254,15256],{"class":114,"line":1745},[112,15249,1770],{"class":146},[112,15251,13396],{"class":136},[112,15253,1776],{"class":146},[112,15255,13401],{"class":136},[112,15257,1782],{"class":146},[112,15259,15260,15262,15264],{"class":114,"line":1750},[112,15261,1789],{"class":1788},[112,15263,1697],{"class":765},[112,15265,1794],{"class":146},[112,15267,15268,15270,15272,15274,15276],{"class":114,"line":1761},[112,15269,13416],{"class":136},[112,15271,1803],{"class":146},[112,15273,13421],{"class":136},[112,15275,1809],{"class":765},[112,15277,1812],{"class":146},[112,15279,15280],{"class":114,"line":1767},[112,15281,1818],{"class":146},[112,15283,15284],{"class":114,"line":1785},[112,15285,1824],{"class":146},[112,15287,15288,15290,15292],{"class":114,"line":1797},[112,15289,13438],{"class":146},[112,15291,1697],{"class":765},[112,15293,1758],{"class":146},[112,15295,15296],{"class":114,"line":1815},[112,15297,1764],{"class":146},[112,15299,15300,15302,15304,15306,15308],{"class":114,"line":1821},[112,15301,13451],{"class":146},[112,15303,13396],{"class":136},[112,15305,1737],{"class":146},[112,15307,13458],{"class":136},[112,15309,1466],{"class":146},[112,15311,15312],{"class":114,"line":1827},[112,15313,13465],{"class":146},[112,15315,15316],{"class":114,"line":1832},[112,15317,1824],{"class":146},[112,15319,15320,15322,15324,15326,15328,15330,15332,15334,15336,15338,15340],{"class":114,"line":1838},[112,15321,13474],{"class":146},[112,15323,1697],{"class":765},[112,15325,13479],{"class":146},[112,15327,13482],{"class":1788},[112,15329,1697],{"class":765},[112,15331,13355],{"class":136},[112,15333,1776],{"class":146},[112,15335,13491],{"class":1788},[112,15337,1697],{"class":765},[112,15339,13496],{"class":136},[112,15341,1860],{"class":146},[112,15343,15344,15346,15348],{"class":114,"line":1849},[112,15345,13503],{"class":1788},[112,15347,1697],{"class":765},[112,15349,2037],{"class":146},[112,15351,15352,15354,15356,15358],{"class":114,"line":1863},[112,15353,13512],{"class":136},[112,15355,1776],{"class":146},[112,15357,13517],{"class":136},[112,15359,1860],{"class":146},[112,15361,15362,15364,15366,15369],{"class":114,"line":1875},[112,15363,13524],{"class":136},[112,15365,1776],{"class":146},[112,15367,15368],{"class":136},"\"-4\"",[112,15370,1860],{"class":146},[112,15372,15373,15375,15377,15379,15381],{"class":114,"line":1902},[112,15374,13536],{"class":136},[112,15376,1776],{"class":146},[112,15378,13541],{"class":136},[112,15380,1776],{"class":146},[112,15382,13546],{"class":125},[112,15384,15385,15387,15389,15391],{"class":114,"line":1918},[112,15386,13551],{"class":136},[112,15388,1776],{"class":146},[112,15390,13529],{"class":136},[112,15392,1860],{"class":146},[112,15394,15395,15397,15399,15401],{"class":114,"line":1923},[112,15396,13562],{"class":136},[112,15398,1776],{"class":146},[112,15400,13567],{"class":136},[112,15402,13570],{"class":146},[112,15404,15405,15407,15409,15411],{"class":114,"line":1928},[112,15406,13575],{"class":1788},[112,15408,1697],{"class":765},[112,15410,13580],{"class":136},[112,15412,1466],{"class":146},[112,15414,15415],{"class":114,"line":1934},[112,15416,119],{"emptyLinePlaceholder":118},[112,15418,15419],{"class":114,"line":1944},[112,15420,1931],{"class":125},[112,15422,15423,15425,15427],{"class":114,"line":1957},[112,15424,1937],{"class":146},[112,15426,1697],{"class":765},[112,15428,1846],{"class":146},[112,15430,15431,15433,15435,15438],{"class":114,"line":1970},[112,15432,1947],{"class":1788},[112,15434,1697],{"class":765},[112,15436,15437],{"class":136},"\"ros_gz_bridge\"",[112,15439,1860],{"class":146},[112,15441,15442,15444,15446,15449],{"class":114,"line":1985},[112,15443,1960],{"class":1788},[112,15445,1697],{"class":765},[112,15447,15448],{"class":136},"\"parameter_bridge\"",[112,15450,1860],{"class":146},[112,15452,15453,15455,15457,15459,15462],{"class":114,"line":1993},[112,15454,1973],{"class":1788},[112,15456,1697],{"class":765},[112,15458,799],{"class":146},[112,15460,15461],{"class":136},"\"/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist\"",[112,15463,1860],{"class":146},[112,15465,15466,15469],{"class":114,"line":2001},[112,15467,15468],{"class":136}," \"/model/mycar/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry\"",[112,15470,1860],{"class":146},[112,15472,15473,15476],{"class":114,"line":2007},[112,15474,15475],{"class":136}," \"/model/mycar/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V\"",[112,15477,1860],{"class":146},[112,15479,15480,15483],{"class":114,"line":2029},[112,15481,15482],{"class":136}," \"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock\"",[112,15484,1860],{"class":146},[112,15486,15487,15490],{"class":114,"line":2040},[112,15488,15489],{"class":136}," \"/world/empty/model/mycar/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model\"",[112,15491,1860],{"class":146},[112,15493,15494],{"class":114,"line":2057},[112,15495,2004],{"class":146},[112,15497,15498,15500,15502,15504,15507,15509,15512],{"class":114,"line":2072},[112,15499,2010],{"class":1788},[112,15501,1697],{"class":765},[112,15503,2015],{"class":146},[112,15505,15506],{"class":136},"\"qos_overrides./model/mycar.subscriber.reliability\"",[112,15508,1803],{"class":146},[112,15510,15511],{"class":136},"\"reliable\"",[112,15513,2026],{"class":146},[112,15515,15516,15518,15520],{"class":114,"line":2078},[112,15517,2032],{"class":1788},[112,15519,1697],{"class":765},[112,15521,2037],{"class":146},[112,15523,15524,15526,15529,15531,15534],{"class":114,"line":2089},[112,15525,2043],{"class":146},[112,15527,15528],{"class":136},"\"/model/mycar/tf\"",[112,15530,1776],{"class":146},[112,15532,15533],{"class":136},"\"/tf\"",[112,15535,2054],{"class":146},[112,15537,15538,15540,15543,15545,15548],{"class":114,"line":2094},[112,15539,2043],{"class":146},[112,15541,15542],{"class":136},"\"/world/empty/model/mycar/joint_state\"",[112,15544,1737],{"class":146},[112,15546,15547],{"class":136},"\"joint_states\"",[112,15549,2054],{"class":146},[112,15551,15552,15554,15557,15559,15562],{"class":114,"line":2099},[112,15553,2043],{"class":146},[112,15555,15556],{"class":136},"\"/model/mycar/odometry\"",[112,15558,1737],{"class":146},[112,15560,15561],{"class":136},"\"/odom\"",[112,15563,1466],{"class":146},[112,15565,15566],{"class":114,"line":2108},[112,15567,2075],{"class":146},[112,15569,15570,15572,15574],{"class":114,"line":2114},[112,15571,2081],{"class":1788},[112,15573,1697],{"class":765},[112,15575,15576],{"class":136},"\"screen\"\n",[112,15578,15579],{"class":114,"line":2134},[112,15580,1824],{"class":146},[112,15582,15583],{"class":114,"line":2147},[112,15584,119],{"emptyLinePlaceholder":118},[112,15586,15587,15589],{"class":114,"line":2153},[112,15588,2102],{"class":765},[112,15590,2105],{"class":146},[112,15592,15593],{"class":114,"line":2159},[112,15594,2111],{"class":146},[112,15596,15597],{"class":114,"line":3638},[112,15598,13601],{"class":146},[112,15600,15601],{"class":114,"line":3651},[112,15602,13606],{"class":146},[112,15604,15605],{"class":114,"line":3665},[112,15606,15607],{"class":146}," bridge\n",[112,15609,15610],{"class":114,"line":3678},[112,15611,2162],{"class":146},[15,15613,15614],{},[50,15615,2175],{},[15,15617,2178],{},[102,15619,15620],{"className":104,"code":13619,"language":106,"meta":107,"style":107},[109,15621,15622],{"__ignoreMap":107},[112,15623,15624,15626,15628,15630,15632],{"class":114,"line":115},[112,15625,2188],{"class":132},[112,15627,2191],{"class":136},[112,15629,13630],{"class":576},[112,15631,13633],{"class":136},[112,15633,1432],{"class":136},[15,15635,15636],{},[50,15637,2206],{},[15,15639,2209],{},[102,15641,15643],{"className":104,"code":15642,"language":106,"meta":107,"style":107},". install/setup.bash\nexport MYCAR_MODEL=stm32_4w # MYCAR_MODEL值可以设置为arduino、stm32_2w 或stm32_4w（这个是具体的urdf文件名，在mycar_description包下的）\nros2 launch demo_gazebo_sim gazebo_sim_world.launch.py\n",[109,15644,15645,15651,15664],{"__ignoreMap":107},[112,15646,15647,15649],{"class":114,"line":115},[112,15648,2219],{"class":576},[112,15650,2222],{"class":136},[112,15652,15653,15655,15657,15659,15662],{"class":114,"line":122},[112,15654,9406],{"class":765},[112,15656,13669],{"class":146},[112,15658,1697],{"class":765},[112,15660,15661],{"class":146},"stm32_4w ",[112,15663,13662],{"class":125},[112,15665,15666,15668,15670,15672],{"class":114,"line":129},[112,15667,263],{"class":132},[112,15669,266],{"class":136},[112,15671,2231],{"class":136},[112,15673,9339],{"class":136},[15,15675,15676],{},"再启动键盘控制节点，就可以控制机器人运动了。",[102,15678,15679],{"className":104,"code":2240,"language":106,"meta":107,"style":107},[109,15680,15681],{"__ignoreMap":107},[112,15682,15683,15685,15687,15689],{"class":114,"line":115},[112,15684,263],{"class":132},[112,15686,663],{"class":136},[112,15688,711],{"class":136},[112,15690,2253],{"class":136},[15,15692,15693],{},"还可以启动rviz2，以查看里程计消息以及坐标变换。终端中进入当前工作空间，调用如下指令执行launch文件：",[15,15695,15696],{},"启动rviz2",[102,15698,15700],{"className":104,"code":15699,"language":106,"meta":107,"style":107},". install/setup.bash\nrviz2\n",[109,15701,15702,15708],{"__ignoreMap":107},[112,15703,15704,15706],{"class":114,"line":115},[112,15705,2219],{"class":576},[112,15707,2222],{"class":136},[112,15709,15710],{"class":114,"line":122},[112,15711,15712],{"class":132},"rviz2\n",[15,15714,15715],{},"RVIZ2软件配置如下图所示：",[15,15717,15718,15721],{},[200,15719],{"alt":107,"src":15720},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1735.webp",[200,15722],{"alt":107,"src":15723},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1736.webp",[15,15725,15726],{},[200,15727],{"alt":107,"src":15728},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1737.webp",[27,15730,15732],{"id":15731},"ignition-gazebo仿真之传感器","Ignition Gazebo仿真之传感器",[15,15734,15735],{},"本节将介绍如何为仿真机器人添加雷达、相机等传感器。本节代码部分内容对于我们教程中涉及到的arduino、stm32_2w以及stm32_4w等机器人模型而言是完全通用的。",[15,15737,15738],{},[50,15739,15740],{},"添加传感器插件",[15,15742,15743,15744,15747,15748,15750],{},"在进行传感器模拟之前，需要先添加一个名为",[109,15745,15746],{},"ignition-gazebo-sensors-system","的插件，打开urdf文件，在",[109,15749,13956],{},"根标签内添加如下代码：",[102,15752,15754],{"className":2374,"code":15753,"language":2376,"meta":107,"style":107},"\n\u003Cgazebo>\n \u003Cplugin\n filename=\"ignition-gazebo-sensors-system\"\n name=\"ignition::gazebo::systems::Sensors\">\n \u003Crender_engine>ogre2\u003C/render_engine>\n \u003C/plugin>\n \u003C/gazebo>\n",[109,15755,15756,15760,15768,15774,15784,15795,15809,15817],{"__ignoreMap":107},[112,15757,15758],{"class":114,"line":115},[112,15759,119],{"emptyLinePlaceholder":118},[112,15761,15762,15764,15766],{"class":114,"line":122},[112,15763,2383],{"class":146},[112,15765,13697],{"class":2386},[112,15767,2398],{"class":146},[112,15769,15770,15772],{"class":114,"line":129},[112,15771,2420],{"class":146},[112,15773,14318],{"class":2386},[112,15775,15776,15779,15781],{"class":114,"line":153},[112,15777,15778],{"class":132}," filename",[112,15780,1697],{"class":146},[112,15782,15783],{"class":136},"\"ignition-gazebo-sensors-system\"\n",[112,15785,15786,15788,15790,15793],{"class":114,"line":158},[112,15787,14266],{"class":132},[112,15789,1697],{"class":146},[112,15791,15792],{"class":136},"\"ignition::gazebo::systems::Sensors\"",[112,15794,2398],{"class":146},[112,15796,15797,15799,15802,15805,15807],{"class":114,"line":164},[112,15798,2430],{"class":146},[112,15800,15801],{"class":2386},"render_engine",[112,15803,15804],{"class":146},">ogre2\u003C/",[112,15806,15801],{"class":2386},[112,15808,2398],{"class":146},[112,15810,15811,15813,15815],{"class":114,"line":176},[112,15812,2501],{"class":146},[112,15814,3024],{"class":2386},[112,15816,2398],{"class":146},[112,15818,15819,15821,15823],{"class":114,"line":181},[112,15820,2510],{"class":146},[112,15822,13697],{"class":2386},[112,15824,2398],{"class":146},[15,15826,15827],{},"ignition-gazebo-sensors-system是Ignition Gazebo仿真环境的插件，提供传感器模型和相关功能，用于创建、模拟和测试各种传感器设备。它包含常见传感器模型，如摄像头、激光雷达等。",[15,15829,15830],{},[50,15831,15832],{},"添加各种传感器",[15,15834,15835],{},[50,15836,15837],{},"(注意，你的模型一定要有以下几个传感器的模型)",[15,15839,15840],{},"雷达的模型不需要collision，请删掉，否则会挡激光射出。",[102,15842,15844],{"className":2374,"code":15843,"language":2376,"meta":107,"style":107},"\n \u003Cgazebo reference=\"laser\">\n \u003Csensor name='gpu_lidar' type='gpu_lidar'>\n \u003Ctopic>scan\u003C/topic>\n \u003Cupdate_rate>30\u003C/update_rate>\n \u003Clidar>\n \u003Cscan>\n \u003Chorizontal>\n \u003Csamples>640\u003C/samples>\n \u003Cresolution>1\u003C/resolution>\n \u003Cmin_angle>-3.1415926\u003C/min_angle>\n \u003Cmax_angle>3.1415926\u003C/max_angle>\n \u003C/horizontal>\n \u003Cvertical>\n \u003Csamples>16\u003C/samples>\n \u003Cresolution>1\u003C/resolution>\n \u003Cmin_angle>-0.261799\u003C/min_angle>\n \u003Cmax_angle>0.261799\u003C/max_angle>\n \u003C/vertical>\n \u003C/scan>\n \u003Crange>\n \u003Cmin>0.08\u003C/min>\n \u003Cmax>10.0\u003C/max>\n \u003Cresolution>0.01\u003C/resolution>\n \u003C/range>\n \u003C/lidar>\n \u003CalwaysOn>1\u003C/alwaysOn>\n \u003Cvisualize>true\u003C/visualize>\n \u003Cignition_frame_id>laser\u003C/ignition_frame_id>\n \u003C/sensor>\n \u003C/gazebo>\n\n \u003Cgazebo reference=\"camera\" >\n \u003Csensor name=\"cam_link\" type=\"camera\">\n \u003Cupdate_rate>10.0\u003C/update_rate>\n \u003Calways_on>true\u003C/always_on>\n \u003Cignition_frame_id>camera\u003C/ignition_frame_id>\n \u003Cpose>0 0 0 0 0 0\u003C/pose>\n \u003Ctopic>/image_raw\u003C/topic>\n \u003Ccamera name=\"my_camera\">\n \u003Chorizontal_fov>1.3962634\u003C/horizontal_fov>\n \u003Cimage>\n \u003Cwidth>600\u003C/width>\n \u003Cheight>600\u003C/height>\n \u003Cformat>R8G8B8\u003C/format>\n \u003C/image>\n \u003Cclip>\n \u003Cnear>0.02\u003C/near>\n \u003Cfar>300\u003C/far>\n \u003C/clip>\n \u003C/camera>\n \u003C/sensor>\n \u003C/gazebo>\n\n \u003Cgazebo reference=\"camera\">\n \u003Csensor name=\"depth_camera\" type=\"depth_camera\">\n \u003Cupdate_rate>10\u003C/update_rate>\n \u003Ctopic>depth_camera\u003C/topic>\n \u003Ccamera>\n \u003Chorizontal_fov>1.05\u003C/horizontal_fov>\n \u003Cimage>\n \u003Cwidth>256\u003C/width>\n \u003Cheight>256\u003C/height>\n \u003Cformat>R_FLOAT32\u003C/format>\n \u003C/image>\n \u003Cclip>\n \u003Cnear>0.1\u003C/near>\n \u003Cfar>10.0\u003C/far>\n \u003C/clip>\n \u003C/camera>\n \u003CalwaysOn>1\u003C/alwaysOn>\n \u003Cignition_frame_id>camera\u003C/ignition_frame_id>\n \u003C/sensor>\n \u003C/gazebo>\n",[109,15845,15846,15850,15866,15888,15901,15914,15923,15932,15941,15955,15968,15982,15996,16004,16013,16026,16038,16051,16064,16072,16080,16088,16102,16116,16128,16136,16144,16157,16170,16184,16192,16200,16204,16220,16241,16253,16266,16279,16292,16305,16321,16335,16344,16359,16372,16386,16394,16403,16417,16431,16439,16447,16455,16463,16467,16481,16502,16514,16527,16535,16548,16556,16569,16581,16594,16602,16610,16623,16635,16643,16651,16663,16675,16683],{"__ignoreMap":107},[112,15847,15848],{"class":114,"line":115},[112,15849,119],{"emptyLinePlaceholder":118},[112,15851,15852,15854,15856,15859,15861,15864],{"class":114,"line":122},[112,15853,2403],{"class":146},[112,15855,13697],{"class":2386},[112,15857,15858],{"class":132}," reference",[112,15860,1697],{"class":146},[112,15862,15863],{"class":136},"\"laser\"",[112,15865,2398],{"class":146},[112,15867,15868,15870,15873,15875,15877,15880,15882,15884,15886],{"class":114,"line":129},[112,15869,2420],{"class":146},[112,15871,15872],{"class":2386},"sensor",[112,15874,2390],{"class":132},[112,15876,1697],{"class":146},[112,15878,15879],{"class":136},"'gpu_lidar'",[112,15881,2960],{"class":132},[112,15883,1697],{"class":146},[112,15885,15879],{"class":136},[112,15887,2398],{"class":146},[112,15889,15890,15892,15894,15897,15899],{"class":114,"line":153},[112,15891,2430],{"class":146},[112,15893,14101],{"class":2386},[112,15895,15896],{"class":146},">scan\u003C/",[112,15898,14101],{"class":2386},[112,15900,2398],{"class":146},[112,15902,15903,15905,15907,15910,15912],{"class":114,"line":158},[112,15904,2430],{"class":146},[112,15906,13854],{"class":2386},[112,15908,15909],{"class":146},">30\u003C/",[112,15911,13854],{"class":2386},[112,15913,2398],{"class":146},[112,15915,15916,15918,15921],{"class":114,"line":164},[112,15917,2430],{"class":146},[112,15919,15920],{"class":2386},"lidar",[112,15922,2398],{"class":146},[112,15924,15925,15927,15930],{"class":114,"line":176},[112,15926,2604],{"class":146},[112,15928,15929],{"class":2386},"scan",[112,15931,2398],{"class":146},[112,15933,15934,15936,15939],{"class":114,"line":181},[112,15935,2800],{"class":146},[112,15937,15938],{"class":2386},"horizontal",[112,15940,2398],{"class":146},[112,15942,15943,15945,15948,15951,15953],{"class":114,"line":187},[112,15944,3284],{"class":146},[112,15946,15947],{"class":2386},"samples",[112,15949,15950],{"class":146},">640\u003C/",[112,15952,15947],{"class":2386},[112,15954,2398],{"class":146},[112,15956,15957,15959,15962,15964,15966],{"class":114,"line":434},[112,15958,3284],{"class":146},[112,15960,15961],{"class":2386},"resolution",[112,15963,2991],{"class":146},[112,15965,15961],{"class":2386},[112,15967,2398],{"class":146},[112,15969,15970,15972,15975,15978,15980],{"class":114,"line":440},[112,15971,3284],{"class":146},[112,15973,15974],{"class":2386},"min_angle",[112,15976,15977],{"class":146},">-3.1415926\u003C/",[112,15979,15974],{"class":2386},[112,15981,2398],{"class":146},[112,15983,15984,15986,15989,15992,15994],{"class":114,"line":446},[112,15985,3284],{"class":146},[112,15987,15988],{"class":2386},"max_angle",[112,15990,15991],{"class":146},">3.1415926\u003C/",[112,15993,15988],{"class":2386},[112,15995,2398],{"class":146},[112,15997,15998,16000,16002],{"class":114,"line":452},[112,15999,3332],{"class":146},[112,16001,15938],{"class":2386},[112,16003,2398],{"class":146},[112,16005,16006,16008,16011],{"class":114,"line":1674},[112,16007,2800],{"class":146},[112,16009,16010],{"class":2386},"vertical",[112,16012,2398],{"class":146},[112,16014,16015,16017,16019,16022,16024],{"class":114,"line":1686},[112,16016,3284],{"class":146},[112,16018,15947],{"class":2386},[112,16020,16021],{"class":146},">16\u003C/",[112,16023,15947],{"class":2386},[112,16025,2398],{"class":146},[112,16027,16028,16030,16032,16034,16036],{"class":114,"line":1691},[112,16029,3284],{"class":146},[112,16031,15961],{"class":2386},[112,16033,2991],{"class":146},[112,16035,15961],{"class":2386},[112,16037,2398],{"class":146},[112,16039,16040,16042,16044,16047,16049],{"class":114,"line":1708},[112,16041,3284],{"class":146},[112,16043,15974],{"class":2386},[112,16045,16046],{"class":146},">-0.261799\u003C/",[112,16048,15974],{"class":2386},[112,16050,2398],{"class":146},[112,16052,16053,16055,16057,16060,16062],{"class":114,"line":1723},[112,16054,3284],{"class":146},[112,16056,15988],{"class":2386},[112,16058,16059],{"class":146},">0.261799\u003C/",[112,16061,15988],{"class":2386},[112,16063,2398],{"class":146},[112,16065,16066,16068,16070],{"class":114,"line":1745},[112,16067,3332],{"class":146},[112,16069,16010],{"class":2386},[112,16071,2398],{"class":146},[112,16073,16074,16076,16078],{"class":114,"line":1750},[112,16075,2840],{"class":146},[112,16077,15929],{"class":2386},[112,16079,2398],{"class":146},[112,16081,16082,16084,16086],{"class":114,"line":1761},[112,16083,2604],{"class":146},[112,16085,5972],{"class":2386},[112,16087,2398],{"class":146},[112,16089,16090,16092,16095,16098,16100],{"class":114,"line":1767},[112,16091,2800],{"class":146},[112,16093,16094],{"class":2386},"min",[112,16096,16097],{"class":146},">0.08\u003C/",[112,16099,16094],{"class":2386},[112,16101,2398],{"class":146},[112,16103,16104,16106,16109,16112,16114],{"class":114,"line":1785},[112,16105,2800],{"class":146},[112,16107,16108],{"class":2386},"max",[112,16110,16111],{"class":146},">10.0\u003C/",[112,16113,16108],{"class":2386},[112,16115,2398],{"class":146},[112,16117,16118,16120,16122,16124,16126],{"class":114,"line":1797},[112,16119,2800],{"class":146},[112,16121,15961],{"class":2386},[112,16123,5989],{"class":146},[112,16125,15961],{"class":2386},[112,16127,2398],{"class":146},[112,16129,16130,16132,16134],{"class":114,"line":1815},[112,1613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>\n",[112,16221,16222,16224,16226,16228,16230,16233,16235,16237,16239],{"class":114,"line":1918},[112,16223,2420],{"class":146},[112,16225,15872],{"class":2386},[112,16227,2390],{"class":132},[112,16229,1697],{"class":146},[112,16231,16232],{"class":136},"\"cam_link\"",[112,16234,2960],{"class":132},[112,16236,1697],{"class":146},[112,16238,16216],{"class":136},[112,16240,2398],{"class":146},[112,16242,16243,16245,16247,16249,16251],{"class":114,"line":1923},[112,16244,2430],{"class":146},[112,16246,13854],{"class":2386},[112,16248,16111],{"class":146},[112,16250,13854],{"class":2386},[112,16252,2398],{"class":146},[112,16254,16255,16257,16260,16262,16264],{"class":114,"line":1928},[112,16256,2430],{"class":146},[112,16258,16259],{"class":2386},"always_on",[112,16261,3199],{"class":146},[112,16263,16259],{"class":2386},[112,16265,2398],{"class":146},[112,16267,16268,16270,16272,16275,16277],{"class":114,"line":1934},[112,16269,2430],{"class":146},[112,16271,16176],{"class":2386},[112,16273,16274],{"class":146},">camera\u003C/",[112,16276,16176],{"class":2386},[112,16278,2398],{"class":146},[112,16280,16281,16283,16285,16288,16290],{"class":114,"line":1944},[112,16282,2430],{"class":146},[112,16284,3548],{"class":2386},[112,16286,16287],{"class":146},">0 0 0 0 0 0\u003C/",[112,16289,3548],{"class":2386},[112,16291,2398],{"class":146},[112,16293,16294,16296,16298,16301,16303],{"class":114,"line":1957},[112,16295,2430],{"class":146},[112,16297,14101],{"class":2386},[112,16299,16300],{"class":146},">/image_raw\u003C/",[112,16302,14101],{"class":2386},[112,16304,2398],{"class":146},[112,16306,16307,16309,16312,16314,16316,16319],{"class":114,"line":1970},[112,16308,2430],{"class":146},[112,16310,16311],{"class":2386},"camera",[112,16313,2390],{"class":132},[112,16315,1697],{"class":146},[112,16317,16318],{"class":136},"\"my_camera\"",[112,16320,2398],{"class":146},[112,16322,16323,16325,16328,16331,16333],{"class":114,"line":1985},[112,16324,2604],{"class":146},[112,16326,16327],{"class":2386},"horizontal_fov",[112,16329,16330],{"class":146},">1.3962634\u003C/",[112,16332,16327],{"class":2386},[112,16334,2398],{"class":146},[112,16336,16337,16339,16342],{"class":114,"line":1993},[112,16338,2604],{"class":146},[112,16340,16341],{"class":2386},"image",[112,16343,2398],{"class":146},[112,16345,16346,16349,16352,16355,16357],{"class":114,"line":2001},[112,16347,16348],{"class":146}," \u003C",[112,16350,16351],{"class":2386},"width",[112,16353,16354],{"class":146},">600\u003C/",[112,16356,16351],{"class":2386},[112,16358,2398],{"class":146},[112,16360,16361,16363,16366,16368,16370],{"class":114,"line":2007},[112,16362,16348],{"class":146},[112,16364,16365],{"class":2386},"height",[112,16367,16354],{"class":146},[112,16369,16365],{"class":2386},[112,16371,2398],{"class":146},[112,16373,16374,16376,16379,16382,16384],{"class":114,"line":2029},[112,16375,16348],{"class":146},[112,16377,16378],{"class":2386},"format",[112,16380,16381],{"class":146},">R8G8B8\u003C/",[112,16383,16378],{"class":2386},[112,16385,2398],{"class":146},[112,16387,16388,16390,16392],{"class":114,"line":2040},[112,16389,2840],{"class":146},[112,16391,16341],{"class":2386},[112,16393,2398],{"class":146},[112,16395,16396,16398,16401],{"class":114,"line":2057},[112,16397,2604],{"class":146},[112,16399,16400],{"class":2386},"clip",[112,16402,2398],{"class":146},[112,16404,16405,16407,16410,16413,16415],{"class":114,"line":2072},[112,16406,2800],{"class":146},[112,16408,16409],{"class":2386},"near",[112,16411,16412],{"class":146},">0.02\u003C/",[112,16414,16409],{"class":2386},[112,16416,2398],{"class":146},[112,16418,16419,16421,16424,16427,16429],{"class":114,"line":2078},[112,16420,2800],{"class":146},[112,16422,16423],{"class":2386},"far",[112,16425,16426],{"class":146},">300\u003C/",[112,16428,16423],{"class":2386},[112,16430,2398],{"class":146},[112,16432,16433,16435,16437],{"class":114,"line":2089},[112,16434,2840],{"class":146},[112,16436,16400],{"class":2386},[112,16438,2398],{"class":146},[112,16440,16441,16443,16445],{"class":114,"line":2094},[112,16442,2664],{"class":146},[112,16444,16311],{"class":2386},[112,16446,2398],{"class":146},[112,16448,16449,16451,16453],{"class":114,"line":2099},[112,16450,2501],{"class":146},[112,16452,15872],{"class":2386},[112,16454,2398],{"class":146},[112,16456,16457,16459,16461],{"class":114,"line":2108},[112,16458,2510],{"class":146},[112,16460,13697],{"class":2386},[112,16462,2398],{"class":146},[112,16464,16465],{"class":114,"line":2114},[112,16466,119],{"emptyLinePlaceholder":118},[112,16468,16469,16471,16473,16475,16477,16479],{"class":114,"line":2134},[112,16470,2403],{"class":146},[112,16472,13697],{"class":2386},[112,16474,15858],{"class":132},[112,16476,1697],{"class":146},[112,16478,16216],{"class":136},[112,16480,2398],{"class":146},[112,16482,16483,16485,16487,16489,16491,16494,16496,16498,16500],{"class":114,"line":2147},[112,16484,2420],{"class":146},[112,16486,15872],{"class":2386},[112,16488,2390],{"class":132},[112,16490,1697],{"class":146},[112,16492,16493],{"class":136},"\"depth_camera\"",[112,16495,2960],{"class":132},[112,16497,1697],{"class":146},[112,16499,16493],{"class":136},[112,16501,2398],{"class":146},[112,16503,16504,16506,16508,16510,16512],{"class":114,"line":2153},[112,16505,2800],{"class":146},[112,16507,13854],{"class":2386},[112,16509,14062],{"class":146},[112,16511,13854],{"class":2386},[112,16513,2398],{"class":146},[112,16515,16516,16518,16520,16523,16525],{"class":114,"line":2159},[112,16517,2800],{"class":146},[112,16519,14101],{"class":2386},[112,16521,16522],{"class":146},">depth_camera\u003C/",[112,16524,14101],{"class":2386},[112,16526,2398],{"class":146},[112,16528,16529,16531,16533],{"class":114,"line":3638},[112,16530,2800],{"class":146},[112,16532,16311],{"class":2386},[112,16534,2398],{"class":146},[112,16536,16537,16539,16541,16544,16546],{"class":114,"line":3651},[112,16538,3284],{"class":146},[112,16540,16327],{"class":2386},[112,16542,16543],{"class":146},">1.05\u003C/",[112,16545,16327],{"class":2386},[112,16547,2398],{"class":146},[112,16549,16550,16552,16554],{"class":114,"line":3665},[112,16551,3284],{"class":146},[112,16553,16341],{"class":2386},[112,16555,2398],{"class":146},[112,16557,16558,16560,16562,16565,16567],{"class":114,"line":3678},[112,16559,3294],{"class":146},[112,16561,16351],{"class":2386},[112,16563,16564],{"class":146},">256\u003C/",[112,16566,16351],{"class":2386},[112,16568,2398],{"class":146},[112,16570,16571,16573,16575,16577,16579],{"class":114,"line":3687},[112,16572,3294],{"class":146},[112,16574,16365],{"class":2386},[112,16576,16564],{"class":146},[112,16578,16365],{"class":2386},[112,16580,2398],{"class":146},[112,16582,16583,16585,16587,16590,16592],{"class":114,"line":3696},[112,16584,3294],{"class":146},[112,16586,16378],{"class":2386},[112,16588,16589],{"class":146},">R_FLOAT32\u003C/",[112,16591,16378],{"class":2386},[112,16593,2398],{"class":146},[112,16595,16596,16598,16600],{"class":114,"line":3711},[112,16597,3323],{"class":146},[112,16599,16341],{"class":2386},[112,16601,2398],{"class":146},[112,16603,16604,16606,16608],{"class":114,"line":3720},[112,16605,3284],{"class":146},[112,16607,16400],{"class":2386},[112,16609,2398],{"class":146},[112,16611,16612,16614,16616,16619,16621],{"class":114,"line":3733},[112,16613,3294],{"class":146},[112,16615,16409],{"class":2386},[112,16617,166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\u003Cgazebo>\n \u003Cplugin filename=\"libignition-gazebo-imu-system.so\"\n name=\"ignition::gazebo::systems::Imu\">\n \u003C/plugin>\n \u003C/gazebo>\n\n \u003Cgazebo reference=\"base_link\">\n \u003Csensor name=\"imu_sensor\" type=\"imu\">\n \u003Calways_on>1\u003C/always_on>\n \u003Cupdate_rate>30\u003C/update_rate>\n \u003Cvisualize>true\u003C/visualize>\n \u003Ctopic>imu\u003C/topic>\n \u003C/sensor>\n \u003C/gazebo>\n",[109,16698,16699,16703,16711,16724,16736,16744,16752,16756,16770,16792,16804,16816,16828,16841,16849],{"__ignoreMap":107},[112,16700,16701],{"class":114,"line":115},[112,16702,119],{"emptyLinePlaceholder":118},[112,16704,16705,16707,16709],{"class":114,"line":122},[112,16706,2420],{"class":146},[112,16708,13697],{"class":2386},[112,16710,2398],{"class":146},[112,16712,16713,16715,16717,16719,16721],{"class":114,"line":129},[112,16714,2604],{"class":146},[112,16716,3024],{"class":2386},[112,16718,3034],{"class":132},[112,16720,1697],{"class":146},[112,16722,16723],{"class":136},"\"libignition-gazebo-imu-system.so\"\n",[112,16725,16726,16729,16731,16734],{"class":114,"line":153},[112,16727,16728],{"class":132}," name",[112,16730,1697],{"class":146},[112,16732,16733],{"class":136},"\"ignition::gazebo::systems::Imu\"",[112,16735,2398],{"class":146},[112,16737,16738,16740,16742],{"class":114,"line":158},[112,16739,2840],{"class":146},[112,16741,3024],{"class":2386},[112,16743,2398],{"class":146},[112,16745,16746,16748,16750],{"class":114,"line":164},[112,16747,2501],{"class":146},[112,16749,13697],{"class":2386},[112,16751,2398],{"class":146},[112,16753,16754],{"class":114,"line":176},[112,16755,119],{"emptyLinePlaceholder":118},[112,16757,16758,16760,16762,16764,16766,16768],{"class":114,"line":181},[112,16759,2420],{"class":146},[112,16761,13697],{"class":2386},[112,16763,15858],{"class":132},[112,16765,1697],{"class":146},[112,16767,2413],{"class":136},[112,16769,2398],{"class":146},[112,16771,16772,16774,16776,16778,16780,16783,16785,16787,16790],{"class":114,"line":187},[112,16773,2604],{"class":146},[112,16775,15872],{"class":2386},[112,16777,2390],{"class":132},[112,16779,1697],{"class":146},[112,16781,16782],{"class":136},"\"imu_sensor\"",[112,16784,2960],{"class":132},[112,16786,1697],{"class":146},[112,16788,16789],{"class":136},"\"imu\"",[112,16791,2398],{"class":146},[112,16793,16794,16796,16798,16800,16802],{"class":114,"line":434},[112,16795,3284],{"class":146},[112,16797,16259],{"class":2386},[112,16799,2991],{"class":146},[112,16801,16259],{"class":2386},[112,16803,2398],{"class":146},[112,16805,16806,16808,16810,16812,16814],{"class":114,"line":440},[112,16807,3284],{"class":146},[112,16809,13854],{"class":2386},[112,16811,15909],{"class":146},[112,16813,13854],{"class":2386},[112,16815,2398],{"class":146},[112,16817,16818,16820,16822,16824,16826],{"class":114,"line":446},[112,16819,3284],{"class":146},[112,16821,16163],{"class":2386},[112,16823,3199],{"class":146},[112,16825,16163],{"class":2386},[112,16827,2398],{"class":146},[112,16829,16830,16832,16834,16837,16839],{"class":114,"line":452},[112,16831,3284],{"class":146},[112,16833,14101],{"class":2386},[112,16835,16836],{"class":146},">imu\u003C/",[112,16838,14101],{"class":2386},[112,16840,2398],{"class":146},[112,16842,16843,16845,16847],{"class":114,"line":1674},[112,16844,2840],{"class":146},[112,16846,15872],{"class":2386},[112,16848,2398],{"class":146},[112,16850,16851,16853,16855],{"class":114,"line":1686},[112,16852,2501],{"class":146},[112,16854,13697],{"class":2386},[112,16856,2398],{"class":146},[15,16858,16859,16860,16863],{},"可以用",[109,16861,16862],{},"ign topic -e -t /imu","测试gazebo是否发布了话题，后面再用gazebo_bridge把话题给ROS2就行了。",[15,16865,16866],{},"默认情况下，rviz2没有显示imu消息的插件，需要自行安装相关插件，具体安装指令如下：",[102,16868,16872],{"className":16869,"code":16870,"language":16871,"meta":107,"style":107},"language-cpp shiki shiki-themes github-light github-dark","sudo apt install ros-${ROS_DISTRO}-imu-tools\n","cpp",[109,16873,16874],{"__ignoreMap":107},[112,16875,16876,16879,16882,16884,16886,16889,16891],{"class":114,"line":115},[112,16877,16878],{"class":146},"sudo apt install ros",[112,16880,16881],{"class":765},"-",[112,16883,147],{"class":146},[112,16885,16881],{"class":765},[112,16887,16888],{"class":146},"imu",[112,16890,16881],{"class":765},[112,16892,16893],{"class":146},"tools\n",[15,16895,16896],{},"SolidWorks自动生成的模型可能翻转了laser_joint,请你修改回正，这样可能rivz2就有激光了，然后修改一下可视化的模型，让模型正常，不要给碰撞，不然可能会遮挡激光。",[15,16898,16899],{},[200,16900],{"alt":107,"src":16901},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1738.webp",[15,16903,15091],{},[102,16905,16907],{"className":1547,"code":16906,"language":1549,"meta":107,"style":107},"import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n this_pkg = get_package_share_directory(\"demo_gazebo_sim\")\n mycar_desc_pkg = get_package_share_directory(\"mycar_description\")\n pkg_ros_gz_sim = get_package_share_directory(\"ros_gz_sim\")\n world_file = os.path.join(this_pkg,\"world\",\"house.sdf\")\n\n gz_sim = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(pkg_ros_gz_sim, \"launch\", \"gz_sim.launch.py\")),\n launch_arguments={\n \"gz_args\": \"-r \" + world_file\n }.items(),\n )\n mycar_desc = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n os.path.join(mycar_desc_pkg,\"launch\",\"mycar_desc_sim.launch.py\")\n )\n )\n spawn = Node(package=\"ros_gz_sim\", executable=\"create\",\n arguments=[\n \"-name\", \"mycar\",\n \"-x\", \"-4\",\n \"-z\", \"0.01\", #设置为0,可能会陷进地里\n \"-y\", \"0\",\n \"-topic\", \"/robot_description\"],\n output=\"screen\")\n\n # Bridge\n bridge = Node(\n package=\"ros_gz_bridge\",\n executable=\"parameter_bridge\",\n arguments=[\"/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist\",\n \"/model/mycar/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry\",\n \"/model/mycar/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V\",\n \"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock\",\n \"/world/empty/model/mycar/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model\",\n \"/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan\",\n \"/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked\",\n \"/image_raw@sensor_msgs/msg/Image@gz.msgs.Image\",\n \"/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo\",\n \"/depth_camera@sensor_msgs/msg/Image@gz.msgs.Image\",\n \"/imu@sensor_msgs/msg/Imu[gz.msgs.IMU\",\n \"/imu/angular_velocity@geometry_msgs/msg/Vector3[gz.msgs.Vector3d\"\n ],\n parameters=[{\"qos_overrides./model/mycar.subscriber.reliability\": \"reliable\"}],\n remappings=[\n (\"/model/mycar/tf\", \"/tf\"),\n (\"/world/empty/model/mycar/joint_state\",\"joint_states\"),\n (\"/model/mycar/odometry\",\"/odom\")\n ],\n output=\"screen\"\n )\n\n return LaunchDescription([\n gz_sim,\n spawn,\n mycar_desc,\n bridge\n ])\n",[109,16908,16909,16915,16919,16929,16933,16943,16953,16963,16973,16977,16985,16989,17001,17013,17025,17041,17045,17053,17058,17071,17079,17092,17096,17100,17108,17112,17124,17128,17132,17156,17164,17175,17186,17199,17210,17221,17231,17235,17239,17247,17257,17267,17279,17286,17293,17300,17307,17314,17321,17328,17335,17342,17349,17354,17359,17375,17383,17396,17408,17420,17424,17432,17436,17440,17446,17450,17454,17458,17462],{"__ignoreMap":107},[112,16910,16911,16913],{"class":114,"line":115},[112,16912,1556],{"class":765},[112,16914,1559],{"class":146},[112,16916,16917],{"class":114,"line":122},[112,16918,119],{"emptyLinePlaceholder":118},[112,16920,16921,16923,16925,16927],{"class":114,"line":129},[112,16922,1568],{"class":765},[112,16924,1571],{"class":146},[112,16926,1556],{"class":765},[112,16928,1576],{"class":146},[112,16930,16931],{"class":114,"line":153},[112,16932,119],{"emptyLinePlaceholder":118},[112,16934,16935,16937,16939,16941],{"class":114,"line":158},[112,16936,1568],{"class":765},[112,16938,1587],{"class":146},[112,16940,1556],{"class":765},[112,16942,1592],{"class":146},[112,16944,16945,16947,16949,16951],{"class":114,"line":164},[112,16946,1568],{"class":765},[112,16948,1599],{"class":146},[112,16950,1556],{"class":765},[112,16952,1615],{"class":146},[112,16954,16955,16957,16959,16961],{"class":114,"line":176},[112,16956,1568],{"class":765},[112,16958,1634],{"class":146},[112,16960,1556],{"class":765},[112,16962,1639],{"class":146},[112,16964,16965,16967,16969,16971],{"class":114,"line":181},[112,16966,1568],{"class":765},[112,16968,1662],{"class":146},[112,16970,1556],{"class":765},[112,16972,1667],{"class":146},[112,16974,16975],{"class":114,"line":187},[112,16976,119],{"emptyLinePlaceholder":118},[112,16978,16979,16981,16983],{"class":114,"line":434},[112,16980,1677],{"class":765},[112,16982,1680],{"class":132},[112,16984,1683],{"class":146},[112,16986,16987],{"class":114,"line":440},[112,16988,119],{"emptyLinePlaceholder":118},[112,16990,16991,16993,16995,16997,16999],{"class":114,"line":446},[112,16992,1694],{"class":146},[112,16994,1697],{"class":765},[112,16996,1700],{"class":146},[112,16998,13329],{"class":136},[112,17000,1466],{"class":146},[112,17002,17003,17005,17007,17009,17011],{"class":114,"line":452},[112,17004,13336],{"class":146},[112,17006,1697],{"class":765},[112,17008,1700],{"class":146},[112,17010,13058],{"class":136},[112,17012,1466],{"class":146},[112,17014,17015,17017,17019,17021,17023],{"class":114,"line":1674},[112,17016,1711],{"class":146},[112,17018,1697],{"class":765},[112,17020,1700],{"class":146},[112,17022,13355],{"class":136},[112,17024,1466],{"class":146},[112,17026,17027,17029,17031,17033,17035,17037,17039],{"class":114,"line":1686},[112,17028,1726],{"class":146},[112,17030,1697],{"class":765},[112,17032,1731],{"class":146},[112,17034,9211],{"class":136},[112,17036,1737],{"class":146},[112,17038,9216],{"class":136},[112,17040,1466],{"class":146},[112,17042,17043],{"class":114,"line":1691},[112,17044,119],{"emptyLinePlaceholder":118},[112,17046,17047,17049,17051],{"class":114,"line":1708},[112,17048,1753],{"class":146},[112,17050,1697],{"class":765},[112,17052,1758],{"class":146},[112,17054,17055],{"class":114,"line":1723},[112,17056,17057],{"class":146}," PythonLaunchDescriptionSource(\n",[112,17059,17060,17063,17065,17067,17069],{"class":114,"line":1745},[112,17061,17062],{"class":146}," os.path.join(pkg_ros_gz_sim, ",[112,17064,13396],{"class":136},[112,17066,1776],{"class":146},[112,17068,13401],{"class":136},[112,17070,1782],{"class":146},[112,17072,17073,17075,17077],{"class":114,"line":1750},[112,17074,1789],{"class":1788},[112,17076,1697],{"class":765},[112,17078,1794],{"class":146},[112,17080,17081,17084,17086,17088,17090],{"class":114,"line":1761},[112,17082,17083],{"class":136}," \"gz_args\"",[112,17085,1803],{"class":146},[112,17087,13421],{"class":136},[112,17089,1809],{"class":765},[112,17091,1812],{"class":146},[112,17093,17094],{"class":114,"line":1767},[112,17095,1818],{"class":146},[112,17097,17098],{"class":114,"line":1785},[112,17099,1824],{"class":146},[112,17101,17102,17104,17106],{"class":114,"line":1797},[112,17103,13438],{"class":146},[112,17105,1697],{"class":765},[112,17107,1758],{"class":146},[112,17109,17110],{"class":114,"line":1815},[112,17111,1764],{"class":146},[112,17113,17114,17116,17118,17120,17122],{"class":114,"line":1821},[112,17115,13451],{"class":146},[112,17117,13396],{"class":136},[112,17119,1737],{"class":146},[112,17121,13458],{"class":136},[112,17123,1466],{"class":146},[112,17125,17126],{"class":114,"line":1827},[112,17127,13465],{"class":146},[112,17129,17130],{"class":114,"line":1832},[112,17131,1824],{"class":146},[112,17133,17134,17136,17138,17140,17142,17144,17146,17148,17150,17152,17154],{"class":114,"line":1838},[112,17135,13474],{"class":146},[112,17137,1697],{"class":765},[112,17139,13479],{"class":146},[112,17141,13482],{"class":1788},[112,17143,1697],{"class":765},[112,17145,13355],{"class":136},[112,17147,1776],{"class":146},[112,17149,13491],{"class":1788},[112,17151,1697],{"class":765},[112,17153,13496],{"class":136},[112,17155,1860],{"class":146},[112,17157,17158,17160,17162],{"class":114,"line":1849},[112,17159,1973],{"class":1788},[112,17161,1697],{"class":765},[112,17163,2037],{"class":146},[112,17165,17166,17169,17171,17173],{"class":114,"line":1863},[112,17167,17168],{"class":136}," \"-name\"",[112,17170,1776],{"class":146},[112,17172,13517],{"class":136},[112,17174,1860],{"class":146},[112,17176,17177,17180,17182,17184],{"class":114,"line":1875},[112,17178,17179],{"class":136}," \"-x\"",[112,17181,1776],{"class":146},[112,17183,15368],{"class":136},[112,17185,1860],{"class":146},[112,17187,17188,17191,17193,17195,17197],{"class":114,"line":1902},[112,17189,17190],{"class":136}," \"-z\"",[112,17192,1776],{"class":146},[112,17194,13541],{"class":136},[112,17196,1776],{"class":146},[112,17198,13546],{"class":125},[112,17200,17201,17204,17206,17208],{"class":114,"line":1918},[112,17202,17203],{"class":136}," \"-y\"",[112,17205,1776],{"class":146},[112,17207,13529],{"class":136},[112,17209,1860],{"class":146},[112,17211,17212,17215,17217,17219],{"class":114,"line":1923},[112,17213,17214],{"class":136}," \"-topic\"",[112,17216,1776],{"class":146},[112,17218,13567],{"class":136},[112,17220,13570],{"class":146},[112,17222,17223,17225,17227,17229],{"class":114,"line":1928},[112,17224,2081],{"class":1788},[112,17226,1697],{"class":765},[112,17228,13580],{"class":136},[112,17230,1466],{"class":146},[112,17232,17233],{"class":114,"line":1934},[112,17234,119],{"emptyLinePlaceholder":118},[112,17236,17237],{"class":114,"line":1944},[112,17238,1931],{"class":125},[112,17240,17241,17243,17245],{"class":114,"line":1957},[112,17242,1937],{"class":146},[112,17244,1697],{"class":765},[112,17246,1846],{"class":146},[112,17248,17249,17251,17253,17255],{"class":114,"line":1970},[112,17250,1947],{"class":1788},[112,17252,1697],{"class":765},[112,17254,15437],{"class":136},[112,17256,1860],{"class":146},[112,17258,17259,17261,17263,17265],{"class":114,"line":1985},[112,17260,1960],{"class":1788},[112,17262,1697],{"class":765},[112,17264,15448],{"class":136},[112,17266,1860],{"class":146},[112,17268,17269,17271,17273,17275,17277],{"class":114,"line":1993},[112,17270,1973],{"class":1788},[112,17272,1697],{"class":765},[112,17274,799],{"class":146},[112,17276,15461],{"class":136},[112,17278,1860],{"class":146},[112,17280,17281,17284],{"class":114,"line":2001},[112,17282,17283],{"class":136}," \"/model/mycar/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry\"",[112,17285,1860],{"class":146},[112,17287,17288,17291],{"class":114,"line":2007},[112,17289,17290],{"class":136}," \"/model/mycar/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V\"",[112,17292,1860],{"class":146},[112,17294,17295,17298],{"class":114,"line":2029},[112,17296,17297],{"class":136}," \"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock\"",[112,17299,1860],{"class":146},[112,17301,17302,17305],{"class":114,"line":2040},[112,17303,17304],{"class":136}," \"/world/empty/model/mycar/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model\"",[112,17306,1860],{"class":146},[112,17308,17309,17312],{"class":114,"line":2057},[112,17310,17311],{"class":136}," \"/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan\"",[112,17313,1860],{"class":146},[112,17315,17316,17319],{"class":114,"line":2072},[112,17317,17318],{"class":136}," \"/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked\"",[112,17320,1860],{"class":146},[112,17322,17323,17326],{"class":114,"line":2078},[112,17324,17325],{"class":136}," \"/image_raw@sensor_msgs/msg/Image@gz.msgs.Image\"",[112,17327,1860],{"class":146},[112,17329,17330,17333],{"class":114,"line":2089},[112,17331,17332],{"class":136}," \"/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo\"",[112,17334,1860],{"class":146},[112,17336,17337,17340],{"class":114,"line":2094},[112,17338,17339],{"class":136}," \"/depth_camera@sensor_msgs/msg/Image@gz.msgs.Image\"",[112,17341,1860],{"class":146},[112,17343,17344,17347],{"class":114,"line":2099},[112,17345,17346],{"class":136}," \"/imu@sensor_msgs/msg/Imu[gz.msgs.IMU\"",[112,17348,1860],{"class":146},[112,17350,17351],{"class":114,"line":2108},[112,17352,17353],{"class":136}," \"/imu/angular_velocity@geometry_msgs/msg/Vector3[gz.msgs.Vector3d\"\n",[112,17355,17356],{"class":114,"line":2114},[112,17357,17358],{"class":146}," ],\n",[112,17360,17361,17363,17365,17367,17369,17371,17373],{"class":114,"line":2134},[112,17362,2010],{"class":1788},[112,17364,1697],{"class":765},[112,17366,2015],{"class":146},[112,17368,15506],{"class":136},[112,17370,1803],{"class":146},[112,17372,15511],{"class":136},[112,17374,2026],{"class":146},[112,17376,17377,17379,17381],{"class":114,"line":2147},[112,17378,2032],{"class":1788},[112,17380,1697],{"class":765},[112,17382,2037],{"class":146},[112,17384,17385,17388,17390,17392,17394],{"class":114,"line":2153},[112,17386,17387],{"class":146}," (",[112,17389,15528],{"class":136},[112,17391,1776],{"class":146},[112,17393,15533],{"class":136},[112,17395,2054],{"class":146},[112,17397,17398,17400,17402,17404,17406],{"class":114,"line":2159},[112,17399,17387],{"class":146},[112,17401,15542],{"class":136},[112,17403,1737],{"class":146},[112,17405,15547],{"class":136},[112,17407,2054],{"class":146},[112,17409,17410,17412,17414,17416,17418],{"class":114,"line":3638},[112,17411,17387],{"class":146},[112,17413,15556],{"class":136},[112,17415,1737],{"class":146},[112,17417,15561],{"class":136},[112,17419,1466],{"class":146},[112,17421,17422],{"class":114,"line":3651},[112,17423,17358],{"class":146},[112,17425,17426,17428,17430],{"class":114,"line":3665},[112,17427,2081],{"class":1788},[112,17429,1697],{"class":765},[112,17431,15576],{"class":136},[112,17433,17434],{"class":114,"line":3678},[112,17435,1824],{"class":146},[112,17437,17438],{"class":114,"line":3687},[112,17439,119],{"emptyLinePlaceholder":118},[112,17441,17442,17444],{"class":114,"line":3696},[112,17443,2102],{"class":765},[112,17445,2105],{"class":146},[112,17447,17448],{"class":114,"line":3711},[112,17449,2111],{"class":146},[112,17451,17452],{"class":114,"line":3720},[112,17453,13601],{"class":146},[112,17455,17456],{"class":114,"line":3733},[112,17457,13606],{"class":146},[112,17459,17460],{"class":114,"line":3747},[112,17461,15607],{"class":146},[112,17463,17464],{"class":114,"line":3756},[112,17465,2162],{"class":146},[15,17467,17468],{},[50,17469,2175],{},[15,17471,2178],{},[102,17473,17474],{"className":104,"code":13619,"language":106,"meta":107,"style":107},[109,17475,17476],{"__ignoreMap":107},[112,17477,17478,17480,17482,17484,17486],{"class":114,"line":115},[112,17479,2188],{"class":132},[112,17481,2191],{"class":136},[112,17483,13630],{"class":576},[112,17485,13633],{"class":136},[112,17487,1432],{"class":136},[15,17489,17490],{},[50,17491,2206],{},[15,17493,2209],{},[102,17495,17497],{"className":104,"code":17496,"language":106,"meta":107,"style":107},". install/setup.bash\nexport MYCAR_MODEL=stm32_4w # MYCAR_MODEL值可以设置为arduino、stm32_2w 或stm32_4w\nros2 launch demo_gazebo_sim gazebo_sim_world.launch.py\n",[109,17498,17499,17505,17518],{"__ignoreMap":107},[112,17500,17501,17503],{"class":114,"line":115},[112,17502,2219],{"class":576},[112,17504,2222],{"class":136},[112,17506,17507,17509,17511,17513,17515],{"class":114,"line":122},[112,17508,9406],{"class":765},[112,17510,13669],{"class":146},[112,17512,1697],{"class":765},[112,17514,15661],{"class":146},[112,17516,17517],{"class":125},"# MYCAR_MODEL值可以设置为arduino、stm32_2w 或stm32_4w\n",[112,17519,17520,17522,17524,17526],{"class":114,"line":129},[112,17521,263],{"class":132},[112,17523,266],{"class":136},[112,17525,2231],{"class":136},[112,17527,9339],{"class":136},[15,17529,15676],{},[15,17531,17532],{},"还可以启动rviz2，以查看机器人发布的诸多数据。终端中进入当前工作空间，调用如下指令执行launch文件：",[102,17534,17535],{"className":104,"code":15699,"language":106,"meta":107,"style":107},[109,17536,17537,17543],{"__ignoreMap":107},[112,17538,17539,17541],{"class":114,"line":115},[112,17540,2219],{"class":576},[112,17542,2222],{"class":136},[112,17544,17545],{"class":114,"line":122},[112,17546,15712],{"class":132},[15,17548,17549],{},[200,17550],{"alt":107,"src":17551},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1739.webp",[15,17553,17554],{},[200,17555],{"alt":107,"src":17556},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1740.webp",[15,17558,12907],{},[15,17560,17561],{},[55,17562,17563],{"href":17563,"rel":17564},"https://github.com/tungchiahui/ROS2_WS/tree/main/6.ws_simulations",[59],[15,17566,17567],{},"(把上面的全部复现，才能够进行下一章导航，下一章导航依然基于仿真)",[17569,17570,17571],"style",{},"html pre.shiki code .sJ8bj, html code.shiki .sJ8bj{--shiki-default:#6A737D;--shiki-dark:#6A737D}html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html pre.shiki code .sZZnC, html code.shiki .sZZnC{--shiki-default:#032F62;--shiki-dark:#9ECBFF}html pre.shiki code .sVt8B, html code.shiki .sVt8B{--shiki-default:#24292E;--shiki-dark:#E1E4E8}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: 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