[{"data":1,"prerenderedAt":566},["ShallowReactive",2],{"wiki-page-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai":3,"wiki-doc-items-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai":198,"language-switcher-data-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai":550,"wiki-i18n-paths-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai":565},{"id":4,"title":5,"body":6,"canonicalPath":177,"chapter":178,"chapterSort":179,"date":180,"description":171,"docI18nKey":181,"docKey":182,"docRoot":183,"docTitle":184,"extension":185,"i18nKey":186,"isBlogPost":187,"isWikiDoc":188,"isWikiIndex":187,"layout":189,"legacyPath":189,"locale":190,"localeSlug":191,"meta":192,"navigation":188,"path":177,"seo":193,"sourcePath":194,"sourceStem":186,"stem":195,"wikiDepth":196,"__hash__":197},"content/_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-Gezebo仿真平台.md","Gezebo仿真平臺",{"type":7,"value":8,"toc":170},"minimark",[9,13,17,20,23,26,32,35,54,57,62,68,73,76,81,84,104,107,112,115,123,126,129,132,135,147,150,153,167],[10,11,12],"h3",{"id":12},"簡述",[14,15,16],"p",{},"Gazebo目前主要分爲兩個版本，",[14,18,19],{},"一個是舊版Gazebo Classic，一個是新版Ignition Gazebo（ Gazebo Fortress）。",[14,21,22],{},"本文中稱呼的Gazebo均代指Gazebo Classic，而Ignition Gazebo會加以區別。",[14,24,25],{},"然後現在ROS2Humble自帶的是Ignition Gazebo（ Gazebo Fortress），但是ROS2 Jazzy自帶的是\tGazebo Harmonic，建議學習\tGazebo Harmonic ！",[14,27,28],{},[29,30,31],"strong",{},"場景",[14,33,34],{},"在ROS機器人開發中，實體機器人雖然具有直接性和真實性的優勢，但也存在一些不足，比如：",[36,37,38],"blockquote",{},[39,40,41,45,48,51],"ol",{},[42,43,44],"li",{},"高昂的成本：研發一款自主移動機器人需要購買昂貴的硬件組件，如傳感器、電機、控制器等，且這些硬件在研發初期可能需要頻繁更換或升級，導致成本急劇上升。",[42,46,47],{},"資源限制：由於資金和資源有限，可能無法同時擁有多臺實體機器人進行測試。這會導致測試周期延長，研發進度受阻。",[42,49,50],{},"環境的不確定性和複雜性：在真實環境中測試機器人時，可能會遇到各種不可預測的情況，如光線變化、地面不平整、電磁干擾等，這些因素都可能影響機器人的性能。",[42,52,53],{},"安全風險：在測試過程中，如果機器人的控制算法或硬件出現故障，可能會導致機器人失控，對人員或環境造成損害。",[14,55,56],{},"在ROS機器人開發的領域裏，仿真技術被廣泛應用以彌補實體機器人測試中的不足。",[14,58,59],{},[29,60,61],{},"概念",[14,63,64,67],{},[29,65,66],{},"機器人仿真"," 是一種利用計算機模型和仿真技術來模擬機器人在虛擬環境中的行爲和性能的過程。它通過創建虛擬的機器人和環境模型，模擬機器人的感知、控制和運動能力，以及與環境和其他對象的交互。",[14,69,70],{},[29,71,72],{},"作用",[14,74,75],{},"通過仿真測試，可以降低機器人研發成本和風險，提高機器人系統的性能和可靠性，併爲實際機器人部署提供參考和指導。",[14,77,78],{},[29,79,80],{},"仿真優勢:",[14,82,83],{},"仿真在機器人系統研發過程中佔有舉足輕重的地位，在研發與測試中較之於實體機器人實現，仿真有如下幾點的顯著優勢:",[39,85,86,92,98],{},[42,87,88,91],{},[29,89,90],{},"低成本:"," 當前機器人成本居高不下，動輒幾十萬，仿真可以大大降低成本，減小風險",[42,93,94,97],{},[29,95,96],{},"高效:"," 搭建的環境更爲多樣且靈活，可以提高測試效率以及測試覆蓋率",[42,99,100,103],{},[29,101,102],{},"高安全性:"," 仿真環境下，無需考慮耗損問題",[14,105,106],{},"仿真技術爲開發者構建了一個既高效又安全，且成本低廉的全方位測試和驗證平臺。",[14,108,109],{},[29,110,111],{},"仿真缺陷:",[14,113,114],{},"機器人在仿真環境與實際環境下的表現差異較大，換言之，仿真並不能完全做到模擬真實的物理世界，存在一些\"失真\"的情況，原因:",[39,116,117,120],{},[42,118,119],{},"仿真器所使用的物理引擎目前還不能夠完全精確模擬真實世界的物理情況",[42,121,122],{},"仿真器構建的是關節驅動器（電機&齒輪箱）、傳感器與信號通信的絕對理想情況，目前不支持模擬實際硬件缺陷或者一些臨界狀態等情形",[14,124,125],{},"總之，仿真技術雖然重要，但並不能完全替代實體測試。實體測試可以驗證仿真結果的準確性，並發現仿真中可能忽略的問題。",[10,127,128],{"id":128},"本章小結",[14,130,131],{},"本章主要介紹了2D仿真工具stage_ros2以及3D仿真工具ignition gazebo在ROS2中的應用。",[14,133,134],{},"相關知識點如下：",[136,137,138,141,144],"ul",{},[42,139,140],{},"仿真的理論知識；",[42,142,143],{},"stage_ros2在ROS2中的使用；",[42,145,146],{},"ignition gazebo在ROS2中的使用。",[14,148,149],{},"通過上述內容我們介紹了仿真在ROS2中的應用場景、概念，以及較之於實體機器人，仿真的優勢和不足。還學習瞭如何基於stage_ros2以及ignition gazebo分別搭建仿真環境並模擬機器人，爲後續的學習奠定了基礎。",[14,151,152],{},"另外，除了stage_ros2和ignition gazebo之外，還有其他一些可用於ROS2仿真的軟件。以下是一些常見的選擇：",[136,154,155,158,161,164],{},[42,156,157],{},"Webots: Webots是一個強大的開源多機器人仿真軟件平臺，它支持各種機器人硬件和傳感器模擬，並且可以與ROS 2進行集成。",[42,159,160],{},"Gazebo Classic: Gazebo Classic是ROS 1中常用的仿真器，也可以通過ROS 2進行連接和使用。",[42,162,163],{},"MORSE: MORSE是一個基於Python的開源仿真器，可以用於ROS 2仿真和機器人開發，支持多種傳感器和行爲模型。",[42,165,166],{},"V-REP: V-REP是一個強大的多機器人仿真平臺，它支持ROS 2與其進行通信，可以實現各種機器人模型和場景的仿真。",[14,168,169],{},"這些都是一些常見的ROS 2仿真軟件，你可以根據具體的需求選擇合適的軟件來進行仿真和開發。請注意，某些仿真器可能需要進行適配和配置以與ROS 2兼容。",{"title":171,"searchDepth":172,"depth":172,"links":173},"",2,[174,176],{"id":12,"depth":175,"text":12},3,{"id":128,"depth":175,"text":128},"/zh-hant/wiki/2023-12-30-ros2-tutorial/ch11-gezebo-fang-zhen-ping-tai","11",11000000,"2023-12-30","wiki/2023-12-30-ros2-tutorial","zh-hant:2023-12-30-ros2-tutorial","/zh-hant/wiki/2023-12-30-ros2-tutorial","Ros2 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