[{"data":1,"prerenderedAt":18008},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-ignitiongazebo":3,"wiki-doc-items-2023-12-30-ros2-tutorial":17587,"wiki:author-members":17996},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":117,"chapterOrder":17575,"date":17576,"description":109,"docKey":17577,"docRoot":17578,"docTitle":17579,"extension":17580,"isWikiDoc":120,"isWikiIndex":17581,"meta":17582,"navigation":120,"path":17583,"seo":17584,"stem":17585,"wikiDepth":117,"__hash__":17586},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0200-IgnitionGazebo.md","Ignition Gazebo（Gazebo Fortress）",[7],"董佳辉",{"type":9,"value":10,"toc":17572},"minimark",[11,16,20,28,33,36,39,42,45,48,64,67,73,76,82,88,95,100,103,199,205,210,213,216,253,256,275,282,287,292,295,300,303,306,311,318,324,329,334,339,344,349,354,359,367,372,458,463,468,473,478,483,488,491,496,510,515,518,521,526,531,535,538,549,552,557,564,609,612,634,637,642,647,654,675,689,694,700,724,727,732,735,738,743,746,772,783,786,789,809,812,815,823,826,832,835,847,850,862,865,877,880,904,911,916,919,1370,1373,1398,1402,1409,1414,1417,1435,1440,1445,1448,1469,1472,1477,1482,1485,1490,1495,1502,1505,1510,1513,1534,1539,1544,1547,2165,2168,2173,2178,2181,2199,2204,2209,2212,2237,2240,2256,2271,2276,2283,2286,2291,2338,2341,2346,2366,2371,2374,2526,2529,2715,2718,2879,2884,2891,2894,2897,2900,2905,2910,6122,6127,6206,6209,9096,9101,9104,9292,9297,9299,9313,9318,9320,9342,9345,9348,9353,9359,9362,9367,9370,9376,9379,9382,9387,9390,9438,9444,9449,9468,9473,9476,9479,12847,12851,12853,12867,12871,12873,12893,12895,12900,12904,12907,12910,12916,12921,12924,12929,12932,13224,13227,13232,13235,13612,13616,13618,13637,13641,13644,13686,13688,13693,13701,13704,13710,13716,13721,13727,13730,13736,13823,13826,13829,13947,13952,13959,14291,14296,14629,14632,15085,15090,15093,15613,15617,15619,15635,15639,15641,15675,15678,15692,15695,15698,15714,15717,15725,15730,15734,15737,15742,15752,15826,15829,15834,15839,15842,16692,16695,16858,16865,16868,16895,16898,16903,16905,17467,17471,17473,17489,17493,17495,17529,17531,17534,17548,17553,17558,17560,17565,17568],[12,13,15],"h3",{"id":14},"ignition-gazebogazebo-fortress基于ros2-humble","Ignition Gazebo（Gazebo Fortress，基于ROS2 Humble）",[17,18,19],"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。)",[17,21,22,23],{},"详见",[24,25,27],"nuxt-link",{"to":26},"\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1100-0300-gazebosim#Gz Sim（Gazebo Harmonic 及之后的版本（ROS2 Jazzy及之后的版本））","Gz Sim教程",[29,30,32],"h4",{"id":31},"ign-gazebo安装与运行","Ign Gazebo安装与运行",[17,34,35],{},"Gazebo每个版本的变化都很大。",[17,37,38],{},"特别是ROS1用的老版Gazebo(黑色界面)和ROS2用的新版Gazebo(白色界面)。",[17,40,41],{},"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。",[17,43,44],{},"本文使用humble版本(即Ignition Gazebo)当做教程。",[17,46,47],{},"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）。",[17,49,50,51,55,56,63],{},"Ignition Gazebo 是 ROS2 中使用的全新机器人仿真工具，",[52,53,54],"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)(",[57,58,62],"a",{"href":59,"rel":60},"https:\u002F\u002Fcommunity.gazebosim.org\u002Ft\u002Fa-new-era-for-gazebo\u002F1356)%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",[61],"nofollow","https:\u002F\u002Fcommunity.gazebosim.org\u002Ft\u002Fa-new-era-for-gazebo\u002F1356)。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。",[17,65,66],{},"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。",[17,68,69],{},[57,70,71],{"href":71,"rel":72},"https:\u002F\u002Fdocs.ros.org\u002Fen\u002Fhumble\u002FTutorials\u002FAdvanced\u002FSimulators\u002FGazebo\u002FGazebo.html",[61],[17,74,75],{},"下面这个网站是官方教程(ROS2 Humble的Ignition Gazebo Fortress)：",[17,77,78],{},[57,79,80],{"href":80,"rel":81},"https:\u002F\u002Fgazebosim.org\u002Fdocs\u002Ffortress\u002Fgetstarted\u002F",[61],[17,83,84],{},[57,85,86],{"href":86,"rel":87},"https:\u002F\u002Fgazebosim.org\u002Fdocs\u002Ffortress\u002Flibrary_reference_nav\u002F",[61],[17,89,90,91],{},"源码：",[57,92,93],{"href":93,"rel":94},"https:\u002F\u002Fgithub.com\u002Fgazebosim\u002Fdocs\u002Fblob\u002Fmaster\u002Ffortress\u002Ftutorials",[61],[17,96,97],{},[52,98,99],{},"安装",[17,101,102],{},"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：",[104,105,110],"pre",{"className":106,"code":107,"language":108,"meta":109,"style":109},"language-bash shiki shiki-themes github-light github-dark","\n# 通用命令\nsudo apt install ros-${ROS_DISTRO}-ros-gz\n\n# Humble版本\nsudo apt install ros-humble-ros-gz\n\n# Jazzy版本\nsudo apt install ros-jazzy-ros-gz\n","bash","",[111,112,113,122,129,153,158,164,176,181,187],"code",{"__ignoreMap":109},[114,115,118],"span",{"class":116,"line":117},"line",1,[114,119,121],{"emptyLinePlaceholder":120},true,"\n",[114,123,125],{"class":116,"line":124},2,[114,126,128],{"class":127},"sJ8bj","# 通用命令\n",[114,130,132,136,140,143,146,150],{"class":116,"line":131},3,[114,133,135],{"class":134},"sScJk","sudo",[114,137,139],{"class":138},"sZZnC"," apt",[114,141,142],{"class":138}," install",[114,144,145],{"class":138}," ros-",[114,147,149],{"class":148},"sVt8B","${ROS_DISTRO}",[114,151,152],{"class":138},"-ros-gz\n",[114,154,156],{"class":116,"line":155},4,[114,157,121],{"emptyLinePlaceholder":120},[114,159,161],{"class":116,"line":160},5,[114,162,163],{"class":127},"# Humble版本\n",[114,165,167,169,171,173],{"class":116,"line":166},6,[114,168,135],{"class":134},[114,170,139],{"class":138},[114,172,142],{"class":138},[114,174,175],{"class":138}," ros-humble-ros-gz\n",[114,177,179],{"class":116,"line":178},7,[114,180,121],{"emptyLinePlaceholder":120},[114,182,184],{"class":116,"line":183},8,[114,185,186],{"class":127},"# Jazzy版本\n",[114,188,190,192,194,196],{"class":116,"line":189},9,[114,191,135],{"class":134},[114,193,139],{"class":138},[114,195,142],{"class":138},[114,197,198],{"class":138}," ros-jazzy-ros-gz\n",[17,200,201],{},[202,203],"img",{"alt":109,"src":204},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1705.webp",[17,206,207],{},[52,208,209],{},"运行",[17,211,212],{},"Ignition Gazebo 安装完毕之后，可以通过两种方式启动。",[17,214,215],{},"方式1，以Ignition Gazebo 的方式启动，指令如下：",[104,217,219],{"className":106,"code":218,"language":108,"meta":109,"style":109},"\n# Humble版本\nign gazebo\n\n# Jazzy版本\ngz sim\n",[111,220,221,225,229,237,241,245],{"__ignoreMap":109},[114,222,223],{"class":116,"line":117},[114,224,121],{"emptyLinePlaceholder":120},[114,226,227],{"class":116,"line":124},[114,228,163],{"class":127},[114,230,231,234],{"class":116,"line":131},[114,232,233],{"class":134},"ign",[114,235,236],{"class":138}," gazebo\n",[114,238,239],{"class":116,"line":155},[114,240,121],{"emptyLinePlaceholder":120},[114,242,243],{"class":116,"line":160},[114,244,186],{"class":127},[114,246,247,250],{"class":116,"line":166},[114,248,249],{"class":134},"gz",[114,251,252],{"class":138}," sim\n",[17,254,255],{},"方式2，以ROS2的方式 启动，指令如下 ：",[104,257,259],{"className":106,"code":258,"language":108,"meta":109,"style":109},"ros2 launch ros_gz_sim gz_sim.launch.py\n",[111,260,261],{"__ignoreMap":109},[114,262,263,266,269,272],{"class":116,"line":117},[114,264,265],{"class":134},"ros2",[114,267,268],{"class":138}," launch",[114,270,271],{"class":138}," ros_gz_sim",[114,273,274],{"class":138}," gz_sim.launch.py\n",[17,276,277,278,281],{},"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",[111,279,280],{},"run","按钮即可运行。",[17,283,284],{},[202,285],{"alt":109,"src":286},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1706.webp",[17,288,289],{},[52,290,291],{},"界面介绍",[17,293,294],{},"接下来以Empty仿真环境为例，介绍一下Ignition Gazebo的界面组成。",[17,296,297],{},[202,298],{"alt":109,"src":299},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1707.webp",[17,301,302],{},"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。",[17,304,305],{},"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。",[17,307,308],{},[52,309,310],{},"工具栏",[312,313,314],"ul",{},[315,316,317],"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）。",[319,320,321],"ol",{},[315,322,323],{},"文件菜单按钮（水平条纹）",[17,325,326],{},[202,327],{"alt":109,"src":328},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1708.webp",[312,330,331],{},[315,332,333],{},"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。",[319,335,336],{"start":124},[315,337,338],{},"右侧的插件按钮（垂直省略号）",[17,340,341],{},[202,342],{"alt":109,"src":343},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1709.webp",[312,345,346],{},[315,347,348],{},"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。",[17,350,351],{},[52,352,353],{},"3D视窗",[312,355,356],{},[315,357,358],{},"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。",[17,360,361,364],{},[202,362],{"alt":109,"src":363},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1710.webp",[202,365],{"alt":109,"src":366},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1711.webp",[312,368,369],{},[315,370,371],{},"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：",[104,373,375],{"className":106,"code":374,"language":108,"meta":109,"style":109},"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\u002F向后：放大和缩小\n滚轮单击并拖动：旋转场景\n",[111,376,377,382,387,395,400,405,410,418,429,434,440,446,452],{"__ignoreMap":109},[114,378,379],{"class":116,"line":117},[114,380,381],{"class":134},"左键单击：选择实体\n",[114,383,384],{"class":116,"line":124},[114,385,386],{"class":134},"右键单击：打开带有选项的菜单：\n",[114,388,389,392],{"class":116,"line":131},[114,390,391],{"class":134}," Move",[114,393,394],{"class":138}," to：移动到以实体为中心的场景\n",[114,396,397],{"class":116,"line":155},[114,398,399],{"class":134}," Follow：选择一个实体让视图保持居中，无论是移动还是平移\n",[114,401,402],{"class":116,"line":160},[114,403,404],{"class":134}," Remove：从模拟中删除实体\n",[114,406,407],{"class":116,"line":166},[114,408,409],{"class":134}," Copy：复制实体\n",[114,411,412,415],{"class":116,"line":178},[114,413,414],{"class":134}," Past:",[114,416,417],{"class":138}," 粘贴实体\n",[114,419,420,423,426],{"class":116,"line":183},[114,421,422],{"class":134}," View：显示实体的重心（Center",[114,424,425],{"class":138}," of",[114,427,428],{"class":138}," Mass）、碰撞边界（Collisions）、惯性（Inertia）、\n",[114,430,431],{"class":116,"line":189},[114,432,433],{"class":134}," 关节（Joints）、坐标系（Frames）、透明度（Transparent）、线框（Wireframe）等属性\n",[114,435,437],{"class":116,"line":436},10,[114,438,439],{"class":134},"左键单击并拖动：在场景中平移\n",[114,441,443],{"class":116,"line":442},11,[114,444,445],{"class":134},"右键单击并拖动：放大和缩小\n",[114,447,449],{"class":116,"line":448},12,[114,450,451],{"class":134},"滚轮向前\u002F向后：放大和缩小\n",[114,453,455],{"class":116,"line":454},13,[114,456,457],{"class":134},"滚轮单击并拖动：旋转场景\n",[312,459,460],{},[315,461,462],{},"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",[17,464,465],{},[202,466],{"alt":109,"src":467},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1712.webp",[17,469,470],{},[202,471],{"alt":109,"src":472},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1713.webp",[312,474,475],{},[315,476,477],{},"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。",[17,479,480],{},[202,481],{"alt":109,"src":482},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1714.webp",[17,484,485],{},[52,486,487],{},"右侧面板",[17,489,490],{},"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。",[17,492,493],{},[202,494],{"alt":109,"src":495},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1715.webp",[312,497,498,501,504,507],{},[315,499,500],{},"Entity Tree 中会显示仿真环境中的实体列表；",[315,502,503],{},"点击Entity Tree中的实体后，可以在Model中显示该实体的相关信息。",[315,505,506],{},"也可以按住 Ctrl 并单击以选择多个实体；",[315,508,509],{},"还可以右键单击任何插件以打开基本设置或关闭。",[17,511,512],{},[202,513],{"alt":109,"src":514},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1716.webp",[17,516,517],{},"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。",[17,519,520],{},"后期随着应用的深入，也会陆续介绍其他一些插件。",[17,522,523],{},[202,524],{"alt":109,"src":525},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1717.webp",[17,527,528],{},[202,529],{"alt":109,"src":530},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1718.webp",[29,532,534],{"id":533},"与ros2集成","与ROS2集成",[17,536,537],{},"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：",[319,539,540,543,546],{},[315,541,542],{},"启动 Ignition Gazebo 仿真环境；",[315,544,545],{},"通过 ros_gz_bridge 建立 ROS2 与 Ignition Gazebo 的连接；",[315,547,548],{},"启动 ROS2 相关节点实现与 Ignition Gazebo 的数据收发。",[17,550,551],{},"Ignition Gazebo与ROS2的的所有集成实现，基本都遵循上述流程。",[17,553,554],{},[52,555,556],{},"启动仿真环境",[17,558,559,560,563],{},"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",[111,561,562],{},"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：",[104,565,567],{"className":106,"code":566,"language":108,"meta":109,"style":109},"ign gazebo -v 4 -r visualize_lidar.sdf\n#或者\ngz sim -v 4 -r visualize_lidar.sdf\n",[111,568,569,589,594],{"__ignoreMap":109},[114,570,571,573,576,580,583,586],{"class":116,"line":117},[114,572,233],{"class":134},[114,574,575],{"class":138}," gazebo",[114,577,579],{"class":578},"sj4cs"," -v",[114,581,582],{"class":578}," 4",[114,584,585],{"class":578}," -r",[114,587,588],{"class":138}," visualize_lidar.sdf\n",[114,590,591],{"class":116,"line":124},[114,592,593],{"class":127},"#或者\n",[114,595,596,598,601,603,605,607],{"class":116,"line":131},[114,597,249],{"class":134},[114,599,600],{"class":138}," sim",[114,602,579],{"class":578},[114,604,582],{"class":578},[114,606,585],{"class":578},[114,608,588],{"class":138},[17,610,611],{},"或者也可以以ROS2 launch的方式启动，指令如下：",[104,613,615],{"className":106,"code":614,"language":108,"meta":109,"style":109},"ros2 launch ros_gz_sim gz_sim.launch.py gz_args:=\"-v 4 -r visualize_lidar.sdf\" # 启动状态\n",[111,616,617],{"__ignoreMap":109},[114,618,619,621,623,625,628,631],{"class":116,"line":117},[114,620,265],{"class":134},[114,622,268],{"class":138},[114,624,271],{"class":138},[114,626,627],{"class":138}," gz_sim.launch.py",[114,629,630],{"class":138}," gz_args:=\"-v 4 -r visualize_lidar.sdf\"",[114,632,633],{"class":127}," # 启动状态\n",[17,635,636],{},"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。",[17,638,639],{},[202,640],{"alt":109,"src":641},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1719.webp",[17,643,644],{},[52,645,646],{},"建立连接",[17,648,649,650,653],{},"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",[111,651,652],{},"\u002Fmodel\u002Fvehicle_blue\u002Fcmd_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：",[104,655,657],{"className":106,"code":656,"language":108,"meta":109,"style":109},"ros2 run ros_gz_bridge parameter_bridge \u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist]gz.msgs.Twist\n",[111,658,659],{"__ignoreMap":109},[114,660,661,663,666,669,672],{"class":116,"line":117},[114,662,265],{"class":134},[114,664,665],{"class":138}," run",[114,667,668],{"class":138}," ros_gz_bridge",[114,670,671],{"class":138}," parameter_bridge",[114,673,674],{"class":138}," \u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist]gz.msgs.Twist\n",[17,676,677,678,680,681,684,685,688],{},"通过该指令可以将发布在",[111,679,652],{},"话题上的",[111,682,683],{},"geometry_msgs\u002Fmsg\u002FTwist","类型的ROS2消息转换成可以被Ignition Gzebo识别的",[111,686,687],{},"gz.msgs.Twist","类型的消息。",[17,690,691],{},[52,692,693],{},"启动ROS2节点",[17,695,696,697,699],{},"启动ROS2的键盘控制节点，并将话题重映射为",[111,698,652],{},"，指令如下：",[104,701,703],{"className":106,"code":702,"language":108,"meta":109,"style":109},"ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r \u002Fcmd_vel:=\u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel\n",[111,704,705],{"__ignoreMap":109},[114,706,707,709,711,714,716,719,721],{"class":116,"line":117},[114,708,265],{"class":134},[114,710,665],{"class":138},[114,712,713],{"class":138}," teleop_twist_keyboard",[114,715,713],{"class":138},[114,717,718],{"class":578}," --ros-args",[114,720,585],{"class":578},[114,722,723],{"class":138}," \u002Fcmd_vel:=\u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel\n",[17,725,726],{},"接下来就可以使用键盘控制机器人运动了。",[17,728,729],{},[202,730],{"alt":109,"src":731},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1720.webp",[29,733,734],{"id":734},"ros_gz_bridge",[17,736,737],{},"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。",[17,739,740],{},[52,741,742],{},"ros_gz_bridge使用语法",[17,744,745],{},"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：",[104,747,749],{"className":106,"code":748,"language":108,"meta":109,"style":109},"parameter_bridge [\u003Ctopic@ROS2_type@Gz_type> ..] [\u003Cservice@ROS2_srv_type[@Gz_req_type@Gz_rep_type]> ..]\n",[111,750,751],{"__ignoreMap":109},[114,752,753,756,759,762,765,769],{"class":116,"line":117},[114,754,755],{"class":134},"parameter_bridge",[114,757,758],{"class":148}," [\u003Ctopic@ROS2_type@Gz_type> ",[114,760,761],{"class":138},"..]",[114,763,764],{"class":148}," [\u003Cservice@ROS2_srv_type[@Gz_req_type@Gz_rep_type]",[114,766,768],{"class":767},"szBVR",">",[114,770,771],{"class":148}," ..]\n",[17,773,774,775,778,779,782],{},"在话题Topic中， ",[52,776,777],{},"第一个@"," 符号是话题名称和消息类型的 ",[52,780,781],{},"分隔符"," 。",[17,784,785],{},"第一个@符号后面是ROS消息类型。",[17,787,788],{},"ROS消息类型后面是@、[或]符号：",[312,790,791,797,803],{},[315,792,793,796],{},[52,794,795],{},"@"," 表示双向桥接；",[315,798,799,802],{},[52,800,801],{},"["," 表示从Ignition Gazebo到ROS的桥接；",[315,804,805,808],{},[52,806,807],{},"]"," 表示从ROS到Ignition Gazebo的桥接。",[17,810,811],{},"方向符号后是Gazebo Transport消息类型。",[17,813,814],{},"（两个@不是同一个含义）",[17,816,817,818,820,821,782],{},"在服务Service中， ",[52,819,777],{}," 符号是服务名称和类型的 ",[52,822,781],{},[17,824,825],{},"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。",[17,827,828,831],{},[52,829,830],{},"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。",[17,833,834],{},"双向桥接示例：",[104,836,838],{"className":106,"code":837,"language":108,"meta":109,"style":109},"parameter_bridge \u002Fchatter@std_msgs\u002FString@gz.msgs.StringMsg\n",[111,839,840],{"__ignoreMap":109},[114,841,842,844],{"class":116,"line":117},[114,843,755],{"class":134},[114,845,846],{"class":138}," \u002Fchatter@std_msgs\u002FString@gz.msgs.StringMsg\n",[17,848,849],{},"从Gazebo到ROS的桥接示例：",[104,851,853],{"className":106,"code":852,"language":108,"meta":109,"style":109},"parameter_bridge \u002Fchatter@std_msgs\u002FString[gz.msgs.StringMsg\n",[111,854,855],{"__ignoreMap":109},[114,856,857,859],{"class":116,"line":117},[114,858,755],{"class":134},[114,860,861],{"class":138}," \u002Fchatter@std_msgs\u002FString[gz.msgs.StringMsg\n",[17,863,864],{},"从ROS到Gazebo的桥接示例：",[104,866,868],{"className":106,"code":867,"language":108,"meta":109,"style":109},"parameter_bridge \u002Fchatter@std_msgs\u002FString]gz.msgs.StringMsg\n",[111,869,870],{"__ignoreMap":109},[114,871,872,874],{"class":116,"line":117},[114,873,755],{"class":134},[114,875,876],{"class":138}," \u002Fchatter@std_msgs\u002FString]gz.msgs.StringMsg\n",[17,878,879],{},"服务桥接示例：",[104,881,883],{"className":106,"code":882,"language":108,"meta":109,"style":109},"parameter_bridge \u002Fworld\u002Fdefault\u002Fcontrol@ros_gz_interfaces\u002Fsrv\u002FControlWorld\n或者：\nparameter_bridge \u002Fworld\u002Fdefault\u002Fcontrol@ros_gz_interfaces\u002Fsrv\u002FControlWorld@gz.msgs.WorldControl@gz.msgs.Boolean\n",[111,884,885,892,897],{"__ignoreMap":109},[114,886,887,889],{"class":116,"line":117},[114,888,755],{"class":134},[114,890,891],{"class":138}," \u002Fworld\u002Fdefault\u002Fcontrol@ros_gz_interfaces\u002Fsrv\u002FControlWorld\n",[114,893,894],{"class":116,"line":124},[114,895,896],{"class":134},"或者：\n",[114,898,899,901],{"class":116,"line":131},[114,900,755],{"class":134},[114,902,903],{"class":138}," \u002Fworld\u002Fdefault\u002Fcontrol@ros_gz_interfaces\u002Fsrv\u002FControlWorld@gz.msgs.WorldControl@gz.msgs.Boolean\n",[17,905,906,907,910],{},"也可以运行",[111,908,909],{},"ros2 run ros_gz_bridge parameter_bridge -h","指令查看官方说明文档。",[17,912,913],{},[52,914,915],{},"ros_gz_bridge支持的消息类型",[17,917,918],{},"以下是ROS2与Ignition Gazebo中话题消息类型对应表：",[920,921,922,936],"table",{},[923,924,925],"thead",{},[926,927,928,933],"tr",{},[929,930,932],"th",{"align":931},"left","ROS2消息类型",[929,934,935],{"align":931},"Gazebo Transport 类型",[937,938,939,948,956,964,972,979,987,995,1002,1009,1015,1023,1030,1037,1045,1052,1060,1067,1075,1083,1091,1099,1107,1115,1123,1131,1139,1147,1155,1163,1171,1179,1187,1195,1203,1211,1219,1227,1235,1243,1251,1259,1267,1275,1283,1291,1299,1307,1315,1323,1331,1339,1347,1355,1362],"tbody",{},[926,940,941,945],{},[942,943,944],"td",{"align":931},"builtin_interfaces\u002Fmsg\u002FTime",[942,946,947],{"align":931},"gz.msgs.Time",[926,949,950,953],{},[942,951,952],{"align":931},"geometry_msgs\u002Fmsg\u002FPoint",[942,954,955],{"align":931},"gz.msgs.Vector3d",[926,957,958,961],{},[942,959,960],{"align":931},"geometry_msgs\u002Fmsg\u002FPose",[942,962,963],{"align":931},"gz.msgs.Pose",[926,965,966,969],{},[942,967,968],{"align":931},"geometry_msgs\u002Fmsg\u002FPoseArray",[942,970,971],{"align":931},"gz.msgs.Pose_V",[926,973,974,977],{},[942,975,976],{"align":931},"geometry_msgs\u002Fmsg\u002FPoseStamped",[942,978,963],{"align":931},[926,980,981,984],{},[942,982,983],{"align":931},"geometry_msgs\u002Fmsg\u002FPoseWithCovariance",[942,985,986],{"align":931},"gz.msgs.PoseWithCovariance",[926,988,989,992],{},[942,990,991],{"align":931},"geometry_msgs\u002Fmsg\u002FQuaternion",[942,993,994],{"align":931},"gz.msgs.Quaternion",[926,996,997,1000],{},[942,998,999],{"align":931},"geometry_msgs\u002Fmsg\u002FTransform",[942,1001,963],{"align":931},[926,1003,1004,1007],{},[942,1005,1006],{"align":931},"geometry_msgs\u002Fmsg\u002FTransformStamped",[942,1008,963],{"align":931},[926,1010,1011,1013],{},[942,1012,683],{"align":931},[942,1014,687],{"align":931},[926,1016,1017,1020],{},[942,1018,1019],{"align":931},"geometry_msgs\u002Fmsg\u002FTwistWithCovariance",[942,1021,1022],{"align":931},"gz.msgs.TwistWithCovariance",[926,1024,1025,1028],{},[942,1026,1027],{"align":931},"geometry_msgs\u002Fmsg\u002FTwistWithCovarianceStamped",[942,1029,1022],{"align":931},[926,1031,1032,1035],{},[942,1033,1034],{"align":931},"geometry_msgs\u002Fmsg\u002FVector3",[942,1036,955],{"align":931},[926,1038,1039,1042],{},[942,1040,1041],{"align":931},"geometry_msgs\u002Fmsg\u002FWrench",[942,1043,1044],{"align":931},"gz.msgs.Wrench",[926,1046,1047,1050],{},[942,1048,1049],{"align":931},"geometry_msgs\u002Fmsg\u002FWrenchStamped",[942,1051,1044],{"align":931},[926,1053,1054,1057],{},[942,1055,1056],{"align":931},"nav_msgs\u002Fmsg\u002FOdometry",[942,1058,1059],{"align":931},"gz.msgs.Odometry",[926,1061,1062,1064],{},[942,1063,1056],{"align":931},[942,1065,1066],{"align":931},"gz.msgs.OdometryWithCovariance",[926,1068,1069,1072],{},[942,1070,1071],{"align":931},"rcl_interfaces\u002Fmsg\u002FParameterValue",[942,1073,1074],{"align":931},"gz.msgs.Any",[926,1076,1077,1080],{},[942,1078,1079],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FAltimeter",[942,1081,1082],{"align":931},"gz.msgs.Altimeter",[926,1084,1085,1088],{},[942,1086,1087],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FContact",[942,1089,1090],{"align":931},"gz.msgs.Contact",[926,1092,1093,1096],{},[942,1094,1095],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FContacts",[942,1097,1098],{"align":931},"gz.msgs.Contacts",[926,1100,1101,1104],{},[942,1102,1103],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FDataframe",[942,1105,1106],{"align":931},"gz.msgs.Dataframe",[926,1108,1109,1112],{},[942,1110,1111],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FEntity",[942,1113,1114],{"align":931},"gz.msgs.Entity",[926,1116,1117,1120],{},[942,1118,1119],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FFloat32Array",[942,1121,1122],{"align":931},"gz.msgs.Float_V",[926,1124,1125,1128],{},[942,1126,1127],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FGuiCamera",[942,1129,1130],{"align":931},"gz.msgs.GUICamera",[926,1132,1133,1136],{},[942,1134,1135],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FJointWrench",[942,1137,1138],{"align":931},"gz.msgs.JointWrench",[926,1140,1141,1144],{},[942,1142,1143],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FLight",[942,1145,1146],{"align":931},"gz.msgs.Light",[926,1148,1149,1152],{},[942,1150,1151],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FSensorNoise",[942,1153,1154],{"align":931},"gz.msgs.SensorNoise",[926,1156,1157,1160],{},[942,1158,1159],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FStringVec",[942,1161,1162],{"align":931},"gz.msgs.StringMsg_V",[926,1164,1165,1168],{},[942,1166,1167],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FTrackVisual",[942,1169,1170],{"align":931},"gz.msgs.TrackVisual",[926,1172,1173,1176],{},[942,1174,1175],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FVideoRecord",[942,1177,1178],{"align":931},"gz.msgs.VideoRecord",[926,1180,1181,1184],{},[942,1182,1183],{"align":931},"ros_gz_interfaces\u002Fmsg\u002FWorldControl",[942,1185,1186],{"align":931},"gz.msgs.WorldControl",[926,1188,1189,1192],{},[942,1190,1191],{"align":931},"rosgraph_msgs\u002Fmsg\u002FClock*",[942,1193,1194],{"align":931},"gz.msgs.Clock*",[926,1196,1197,1200],{},[942,1198,1199],{"align":931},"sensor_msgs\u002Fmsg\u002FBatteryState",[942,1201,1202],{"align":931},"gz.msgs.BatteryState",[926,1204,1205,1208],{},[942,1206,1207],{"align":931},"sensor_msgs\u002Fmsg\u002FCameraInfo",[942,1209,1210],{"align":931},"gz.msgs.CameraInfo",[926,1212,1213,1216],{},[942,1214,1215],{"align":931},"sensor_msgs\u002Fmsg\u002FFluidPressure",[942,1217,1218],{"align":931},"gz.msgs.FluidPressure",[926,1220,1221,1224],{},[942,1222,1223],{"align":931},"sensor_msgs\u002Fmsg\u002FImage",[942,1225,1226],{"align":931},"gz.msgs.Image",[926,1228,1229,1232],{},[942,1230,1231],{"align":931},"sensor_msgs\u002Fmsg\u002FImu",[942,1233,1234],{"align":931},"gz.msgs.IMU",[926,1236,1237,1240],{},[942,1238,1239],{"align":931},"sensor_msgs\u002Fmsg\u002FJointState",[942,1241,1242],{"align":931},"gz.msgs.Model",[926,1244,1245,1248],{},[942,1246,1247],{"align":931},"sensor_msgs\u002Fmsg\u002FJoy",[942,1249,1250],{"align":931},"gz.msgs.Joy",[926,1252,1253,1256],{},[942,1254,1255],{"align":931},"sensor_msgs\u002Fmsg\u002FLaserScan",[942,1257,1258],{"align":931},"gz.msgs.LaserScan",[926,1260,1261,1264],{},[942,1262,1263],{"align":931},"sensor_msgs\u002Fmsg\u002FMagneticField",[942,1265,1266],{"align":931},"gz.msgs.Magnetometer",[926,1268,1269,1272],{},[942,1270,1271],{"align":931},"sensor_msgs\u002Fmsg\u002FNavSatFix",[942,1273,1274],{"align":931},"gz.msgs.NavSat",[926,1276,1277,1280],{},[942,1278,1279],{"align":931},"sensor_msgs\u002Fmsg\u002FPointCloud2",[942,1281,1282],{"align":931},"gz.msgs.PointCloudPacked",[926,1284,1285,1288],{},[942,1286,1287],{"align":931},"std_msgs\u002Fmsg\u002FBool",[942,1289,1290],{"align":931},"gz.msgs.Boolean",[926,1292,1293,1296],{},[942,1294,1295],{"align":931},"std_msgs\u002Fmsg\u002FColorRGBA",[942,1297,1298],{"align":931},"gz.msgs.Color",[926,1300,1301,1304],{},[942,1302,1303],{"align":931},"std_msgs\u002Fmsg\u002FEmpty",[942,1305,1306],{"align":931},"gz.msgs.Empty",[926,1308,1309,1312],{},[942,1310,1311],{"align":931},"std_msgs\u002Fmsg\u002FFloat32",[942,1313,1314],{"align":931},"gz.msgs.Float",[926,1316,1317,1320],{},[942,1318,1319],{"align":931},"std_msgs\u002Fmsg\u002FFloat64",[942,1321,1322],{"align":931},"gz.msgs.Double",[926,1324,1325,1328],{},[942,1326,1327],{"align":931},"std_msgs\u002Fmsg\u002FHeader",[942,1329,1330],{"align":931},"gz.msgs.Header",[926,1332,1333,1336],{},[942,1334,1335],{"align":931},"std_msgs\u002Fmsg\u002FInt32",[942,1337,1338],{"align":931},"gz.msgs.Int32",[926,1340,1341,1344],{},[942,1342,1343],{"align":931},"std_msgs\u002Fmsg\u002FString",[942,1345,1346],{"align":931},"gz.msgs.StringMsg",[926,1348,1349,1352],{},[942,1350,1351],{"align":931},"std_msgs\u002Fmsg\u002FUInt32",[942,1353,1354],{"align":931},"gz.msgs.UInt32",[926,1356,1357,1360],{},[942,1358,1359],{"align":931},"tf2_msgs\u002Fmsg\u002FTFMessage",[942,1361,971],{"align":931},[926,1363,1364,1367],{},[942,1365,1366],{"align":931},"trajectory_msgs\u002Fmsg\u002FJointTrajectory",[942,1368,1369],{"align":931},"gz.msgs.JointTrajectory",[17,1371,1372],{},"以及服务消息类型对应表：",[920,1374,1375,1387],{},[923,1376,1377],{},[926,1378,1379,1381,1384],{},[929,1380,932],{"align":931},[929,1382,1383],{"align":931},"Gazebo 请求",[929,1385,1386],{"align":931},"Gazebo 响应",[937,1388,1389],{},[926,1390,1391,1394,1396],{},[942,1392,1393],{"align":931},"ros_gz_interfaces\u002Fsrv\u002FControlWorld",[942,1395,1186],{"align":931},[942,1397,1290],{"align":931},[29,1399,1401],{"id":1400},"与ros2集成优化","与ROS2集成优化",[17,1403,1404,1405,1408],{},"在 ",[52,1406,1407],{},"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。",[17,1410,1411],{},[52,1412,1413],{},"新建功能包",[17,1415,1416],{},"请首先调用如下指令创建一个功能包：",[104,1418,1420],{"className":106,"code":1419,"language":108,"meta":109,"style":109},"ros2 pkg create demo_gazebo_sim\n",[111,1421,1422],{"__ignoreMap":109},[114,1423,1424,1426,1429,1432],{"class":116,"line":117},[114,1425,265],{"class":134},[114,1427,1428],{"class":138}," pkg",[114,1430,1431],{"class":138}," create",[114,1433,1434],{"class":138}," demo_gazebo_sim\n",[17,1436,1437],{},[202,1438],{"alt":109,"src":1439},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1721.webp",[17,1441,1442],{},[52,1443,1444],{},"添加目录",[17,1446,1447],{},"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：",[104,1449,1453],{"className":1450,"code":1451,"language":1452,"meta":109,"style":109},"language-cmake shiki shiki-themes github-light github-dark","install(DIRECTORY rviz world launch DESTINATION share\u002F${PROJECT_NAME})\n","cmake",[111,1454,1455],{"__ignoreMap":109},[114,1456,1457,1460,1463,1466],{"class":116,"line":117},[114,1458,1459],{"class":767},"install",[114,1461,1462],{"class":148},"(DIRECTORY rviz world launch DESTINATION share\u002F",[114,1464,1465],{"class":767},"${PROJECT_NAME}",[114,1467,1468],{"class":148},")\n",[17,1470,1471],{},"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。",[17,1473,1474],{},[202,1475],{"alt":109,"src":1476},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1722.webp",[17,1478,1479],{},[52,1480,1481],{},"rviz目录中生成rviz2的配置文件",[17,1483,1484],{},"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。",[17,1486,1487],{},[202,1488],{"alt":109,"src":1489},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1723.webp",[17,1491,1492],{},[52,1493,1494],{},"复制world文件",[17,1496,1497,1498,1501],{},"在ignition安装路径下的worlds目录（",[111,1499,1500],{},"\u002Fusr\u002Fshare\u002Fignition\u002Fignition-gazebo6\u002Fworlds","）中复制visualize_lidar.sdf文件至world目录。",[17,1503,1504],{},"如果该路径下没有，那可能在ROS的安装路径下：",[17,1506,1507],{},[111,1508,1509],{},"\u002Fopt\u002Fros\u002Fjazzy\u002Fopt\u002Fgz_sim_vendor\u002Fshare\u002Fgz\u002Fgz-sim8\u002Fworlds\u002F",[17,1511,1512],{},"如果还没有的话，手动查找一下：",[104,1514,1516],{"className":106,"code":1515,"language":108,"meta":109,"style":109},"sudo find \u002F -name \"visualize_lidar.sdf\"\n",[111,1517,1518],{"__ignoreMap":109},[114,1519,1520,1522,1525,1528,1531],{"class":116,"line":117},[114,1521,135],{"class":134},[114,1523,1524],{"class":138}," find",[114,1526,1527],{"class":138}," \u002F",[114,1529,1530],{"class":578}," -name",[114,1532,1533],{"class":138}," \"visualize_lidar.sdf\"\n",[17,1535,1536],{},[202,1537],{"alt":109,"src":1538},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1724.webp",[17,1540,1541],{},[52,1542,1543],{},"编写launch文件",[17,1545,1546],{},"launch目录下新建launch文件gazebo_sim_demo.launch.py，并输入如下内容：",[104,1548,1552],{"className":1549,"code":1550,"language":1551,"meta":109,"style":109},"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=['\u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist@gz.msgs.Twist',\n '\u002Fmodel\u002Fvehicle_blue\u002Fodometry@nav_msgs\u002Fmsg\u002FOdometry@gz.msgs.Odometry',\n '\u002Fmodel\u002Fvehicle_blue\u002Ftf@tf2_msgs\u002Fmsg\u002FTFMessage[gz.msgs.Pose_V',\n ],\n parameters=[{'qos_overrides.\u002Fmodel\u002Fvehicle_blue.subscriber.reliability': 'reliable'}],\n remappings=[\n ('\u002Fmodel\u002Fvehicle_blue\u002Ftf', '\u002Ftf'),\n ('\u002Fmodel\u002Fvehicle_blue\u002Fcmd_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",[111,1553,1554,1562,1566,1579,1583,1595,1607,1618,1630,1642,1654,1658,1670,1674,1686,1691,1708,1723,1745,1750,1761,1767,1785,1797,1815,1821,1827,1832,1838,1849,1863,1875,1902,1918,1923,1928,1934,1944,1957,1970,1985,1993,2001,2007,2029,2040,2057,2072,2078,2089,2094,2099,2108,2114,2134,2147,2153,2159],{"__ignoreMap":109},[114,1555,1556,1559],{"class":116,"line":117},[114,1557,1558],{"class":767},"import",[114,1560,1561],{"class":148}," os\n",[114,1563,1564],{"class":116,"line":124},[114,1565,121],{"emptyLinePlaceholder":120},[114,1567,1568,1571,1574,1576],{"class":116,"line":131},[114,1569,1570],{"class":767},"from",[114,1572,1573],{"class":148}," ament_index_python.packages ",[114,1575,1558],{"class":767},[114,1577,1578],{"class":148}," get_package_share_directory\n",[114,1580,1581],{"class":116,"line":155},[114,1582,121],{"emptyLinePlaceholder":120},[114,1584,1585,1587,1590,1592],{"class":116,"line":160},[114,1586,1570],{"class":767},[114,1588,1589],{"class":148}," launch ",[114,1591,1558],{"class":767},[114,1593,1594],{"class":148}," LaunchDescription\n",[114,1596,1597,1599,1602,1604],{"class":116,"line":166},[114,1598,1570],{"class":767},[114,1600,1601],{"class":148}," launch.actions ",[114,1603,1558],{"class":767},[114,1605,1606],{"class":148}," DeclareLaunchArgument\n",[114,1608,1609,1611,1613,1615],{"class":116,"line":178},[114,1610,1570],{"class":767},[114,1612,1601],{"class":148},[114,1614,1558],{"class":767},[114,1616,1617],{"class":148}," IncludeLaunchDescription\n",[114,1619,1620,1622,1625,1627],{"class":116,"line":183},[114,1621,1570],{"class":767},[114,1623,1624],{"class":148}," launch.conditions ",[114,1626,1558],{"class":767},[114,1628,1629],{"class":148}," IfCondition\n",[114,1631,1632,1634,1637,1639],{"class":116,"line":189},[114,1633,1570],{"class":767},[114,1635,1636],{"class":148}," launch.launch_description_sources ",[114,1638,1558],{"class":767},[114,1640,1641],{"class":148}," PythonLaunchDescriptionSource\n",[114,1643,1644,1646,1649,1651],{"class":116,"line":436},[114,1645,1570],{"class":767},[114,1647,1648],{"class":148}," launch.substitutions ",[114,1650,1558],{"class":767},[114,1652,1653],{"class":148}," LaunchConfiguration\n",[114,1655,1656],{"class":116,"line":442},[114,1657,121],{"emptyLinePlaceholder":120},[114,1659,1660,1662,1665,1667],{"class":116,"line":448},[114,1661,1570],{"class":767},[114,1663,1664],{"class":148}," launch_ros.actions ",[114,1666,1558],{"class":767},[114,1668,1669],{"class":148}," Node\n",[114,1671,1672],{"class":116,"line":454},[114,1673,121],{"emptyLinePlaceholder":120},[114,1675,1677,1680,1683],{"class":116,"line":1676},14,[114,1678,1679],{"class":767},"def",[114,1681,1682],{"class":134}," generate_launch_description",[114,1684,1685],{"class":148},"():\n",[114,1687,1689],{"class":116,"line":1688},15,[114,1690,121],{"emptyLinePlaceholder":120},[114,1692,1694,1697,1700,1703,1706],{"class":116,"line":1693},16,[114,1695,1696],{"class":148}," this_pkg ",[114,1698,1699],{"class":767},"=",[114,1701,1702],{"class":148}," get_package_share_directory(",[114,1704,1705],{"class":138},"'demo_gazebo_sim'",[114,1707,1468],{"class":148},[114,1709,1711,1714,1716,1718,1721],{"class":116,"line":1710},17,[114,1712,1713],{"class":148}," pkg_ros_gz_sim ",[114,1715,1699],{"class":767},[114,1717,1702],{"class":148},[114,1719,1720],{"class":138},"'ros_gz_sim'",[114,1722,1468],{"class":148},[114,1724,1726,1729,1731,1734,1737,1740,1743],{"class":116,"line":1725},18,[114,1727,1728],{"class":148}," world_file ",[114,1730,1699],{"class":767},[114,1732,1733],{"class":148}," os.path.join(this_pkg,",[114,1735,1736],{"class":138},"'world'",[114,1738,1739],{"class":148},",",[114,1741,1742],{"class":138},"'visualize_lidar.sdf'",[114,1744,1468],{"class":148},[114,1746,1748],{"class":116,"line":1747},19,[114,1749,121],{"emptyLinePlaceholder":120},[114,1751,1753,1756,1758],{"class":116,"line":1752},20,[114,1754,1755],{"class":148}," gz_sim ",[114,1757,1699],{"class":767},[114,1759,1760],{"class":148}," IncludeLaunchDescription(\n",[114,1762,1764],{"class":116,"line":1763},21,[114,1765,1766],{"class":148}," PythonLaunchDescriptionSource(\n",[114,1768,1770,1773,1776,1779,1782],{"class":116,"line":1769},22,[114,1771,1772],{"class":148}," os.path.join(pkg_ros_gz_sim, ",[114,1774,1775],{"class":138},"'launch'",[114,1777,1778],{"class":148},", ",[114,1780,1781],{"class":138},"'gz_sim.launch.py'",[114,1783,1784],{"class":148},")),\n",[114,1786,1788,1792,1794],{"class":116,"line":1787},23,[114,1789,1791],{"class":1790},"s4XuR"," launch_arguments",[114,1793,1699],{"class":767},[114,1795,1796],{"class":148},"{\n",[114,1798,1800,1803,1806,1809,1812],{"class":116,"line":1799},24,[114,1801,1802],{"class":138}," 'gz_args'",[114,1804,1805],{"class":148},": ",[114,1807,1808],{"class":138},"'-r '",[114,1810,1811],{"class":767}," +",[114,1813,1814],{"class":148}," world_file\n",[114,1816,1818],{"class":116,"line":1817},25,[114,1819,1820],{"class":148}," }.items(),\n",[114,1822,1824],{"class":116,"line":1823},26,[114,1825,1826],{"class":148}," )\n",[114,1828,1830],{"class":116,"line":1829},27,[114,1831,121],{"emptyLinePlaceholder":120},[114,1833,1835],{"class":116,"line":1834},28,[114,1836,1837],{"class":127}," # RViz\n",[114,1839,1841,1844,1846],{"class":116,"line":1840},29,[114,1842,1843],{"class":148}," rviz ",[114,1845,1699],{"class":767},[114,1847,1848],{"class":148}," Node(\n",[114,1850,1852,1855,1857,1860],{"class":116,"line":1851},30,[114,1853,1854],{"class":1790}," package",[114,1856,1699],{"class":767},[114,1858,1859],{"class":138},"'rviz2'",[114,1861,1862],{"class":148},",\n",[114,1864,1866,1869,1871,1873],{"class":116,"line":1865},31,[114,1867,1868],{"class":1790}," executable",[114,1870,1699],{"class":767},[114,1872,1859],{"class":138},[114,1874,1862],{"class":148},[114,1876,1878,1881,1883,1885,1888,1891,1894,1896,1899],{"class":116,"line":1877},32,[114,1879,1880],{"class":1790}," arguments",[114,1882,1699],{"class":767},[114,1884,801],{"class":148},[114,1886,1887],{"class":138},"'-d'",[114,1889,1890],{"class":148},", os.path.join(this_pkg, ",[114,1892,1893],{"class":138},"'rviz'",[114,1895,1778],{"class":148},[114,1897,1898],{"class":138},"'sim.rviz'",[114,1900,1901],{"class":148},")],\n",[114,1903,1905,1908,1910,1913,1915],{"class":116,"line":1904},33,[114,1906,1907],{"class":1790}," condition",[114,1909,1699],{"class":767},[114,1911,1912],{"class":148},"IfCondition(LaunchConfiguration(",[114,1914,1893],{"class":138},[114,1916,1917],{"class":148},"))\n",[114,1919,1921],{"class":116,"line":1920},34,[114,1922,1826],{"class":148},[114,1924,1926],{"class":116,"line":1925},35,[114,1927,121],{"emptyLinePlaceholder":120},[114,1929,1931],{"class":116,"line":1930},36,[114,1932,1933],{"class":127}," # Bridge\n",[114,1935,1937,1940,1942],{"class":116,"line":1936},37,[114,1938,1939],{"class":148}," bridge ",[114,1941,1699],{"class":767},[114,1943,1848],{"class":148},[114,1945,1947,1950,1952,1955],{"class":116,"line":1946},38,[114,1948,1949],{"class":1790}," package",[114,1951,1699],{"class":767},[114,1953,1954],{"class":138},"'ros_gz_bridge'",[114,1956,1862],{"class":148},[114,1958,1960,1963,1965,1968],{"class":116,"line":1959},39,[114,1961,1962],{"class":1790}," executable",[114,1964,1699],{"class":767},[114,1966,1967],{"class":138},"'parameter_bridge'",[114,1969,1862],{"class":148},[114,1971,1973,1976,1978,1980,1983],{"class":116,"line":1972},40,[114,1974,1975],{"class":1790}," arguments",[114,1977,1699],{"class":767},[114,1979,801],{"class":148},[114,1981,1982],{"class":138},"'\u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist@gz.msgs.Twist'",[114,1984,1862],{"class":148},[114,1986,1988,1991],{"class":116,"line":1987},41,[114,1989,1990],{"class":138}," '\u002Fmodel\u002Fvehicle_blue\u002Fodometry@nav_msgs\u002Fmsg\u002FOdometry@gz.msgs.Odometry'",[114,1992,1862],{"class":148},[114,1994,1996,1999],{"class":116,"line":1995},42,[114,1997,1998],{"class":138}," '\u002Fmodel\u002Fvehicle_blue\u002Ftf@tf2_msgs\u002Fmsg\u002FTFMessage[gz.msgs.Pose_V'",[114,2000,1862],{"class":148},[114,2002,2004],{"class":116,"line":2003},43,[114,2005,2006],{"class":148}," ],\n",[114,2008,2010,2013,2015,2018,2021,2023,2026],{"class":116,"line":2009},44,[114,2011,2012],{"class":1790}," parameters",[114,2014,1699],{"class":767},[114,2016,2017],{"class":148},"[{",[114,2019,2020],{"class":138},"'qos_overrides.\u002Fmodel\u002Fvehicle_blue.subscriber.reliability'",[114,2022,1805],{"class":148},[114,2024,2025],{"class":138},"'reliable'",[114,2027,2028],{"class":148},"}],\n",[114,2030,2032,2035,2037],{"class":116,"line":2031},45,[114,2033,2034],{"class":1790}," remappings",[114,2036,1699],{"class":767},[114,2038,2039],{"class":148},"[\n",[114,2041,2043,2046,2049,2051,2054],{"class":116,"line":2042},46,[114,2044,2045],{"class":148}," (",[114,2047,2048],{"class":138},"'\u002Fmodel\u002Fvehicle_blue\u002Ftf'",[114,2050,1778],{"class":148},[114,2052,2053],{"class":138},"'\u002Ftf'",[114,2055,2056],{"class":148},"),\n",[114,2058,2060,2062,2065,2067,2070],{"class":116,"line":2059},47,[114,2061,2045],{"class":148},[114,2063,2064],{"class":138},"'\u002Fmodel\u002Fvehicle_blue\u002Fcmd_vel'",[114,2066,1739],{"class":148},[114,2068,2069],{"class":138},"'cmd_vel'",[114,2071,1468],{"class":148},[114,2073,2075],{"class":116,"line":2074},48,[114,2076,2077],{"class":148}," ],\n",[114,2079,2081,2084,2086],{"class":116,"line":2080},49,[114,2082,2083],{"class":1790}," output",[114,2085,1699],{"class":767},[114,2087,2088],{"class":138},"'screen'\n",[114,2090,2092],{"class":116,"line":2091},50,[114,2093,1826],{"class":148},[114,2095,2097],{"class":116,"line":2096},51,[114,2098,121],{"emptyLinePlaceholder":120},[114,2100,2102,2105],{"class":116,"line":2101},52,[114,2103,2104],{"class":767}," return",[114,2106,2107],{"class":148}," LaunchDescription([\n",[114,2109,2111],{"class":116,"line":2110},53,[114,2112,2113],{"class":148}," gz_sim,\n",[114,2115,2117,2120,2122,2124,2127,2129,2132],{"class":116,"line":2116},54,[114,2118,2119],{"class":148}," DeclareLaunchArgument(",[114,2121,1893],{"class":138},[114,2123,1778],{"class":148},[114,2125,2126],{"class":1790},"default_value",[114,2128,1699],{"class":767},[114,2130,2131],{"class":138},"'true'",[114,2133,1862],{"class":148},[114,2135,2137,2140,2142,2145],{"class":116,"line":2136},55,[114,2138,2139],{"class":1790}," description",[114,2141,1699],{"class":767},[114,2143,2144],{"class":138},"'Open RViz.'",[114,2146,2056],{"class":148},[114,2148,2150],{"class":116,"line":2149},56,[114,2151,2152],{"class":148}," bridge,\n",[114,2154,2156],{"class":116,"line":2155},57,[114,2157,2158],{"class":148}," rviz\n",[114,2160,2162],{"class":116,"line":2161},58,[114,2163,2164],{"class":148}," ])\n",[17,2166,2167],{},"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。",[17,2169,2170],{},[202,2171],{"alt":109,"src":2172},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1725.webp",[17,2174,2175],{},[52,2176,2177],{},"构建",[17,2179,2180],{},"终端中进入当前工作空间，编译功能包：",[104,2182,2184],{"className":106,"code":2183,"language":108,"meta":109,"style":109},"colcon build --packages-select demo_gazebo_sim\n",[111,2185,2186],{"__ignoreMap":109},[114,2187,2188,2191,2194,2197],{"class":116,"line":117},[114,2189,2190],{"class":134},"colcon",[114,2192,2193],{"class":138}," build",[114,2195,2196],{"class":578}," --packages-select",[114,2198,1434],{"class":138},[17,2200,2201],{},[202,2202],{"alt":109,"src":2203},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1726.webp",[17,2205,2206],{},[52,2207,2208],{},"执行",[17,2210,2211],{},"终端中进入当前工作空间，调用如下指令执行launch文件：",[104,2213,2215],{"className":106,"code":2214,"language":108,"meta":109,"style":109},". install\u002Fsetup.bash\nros2 launch demo_gazebo_sim gazebo_sim_demo.launch.py\n",[111,2216,2217,2225],{"__ignoreMap":109},[114,2218,2219,2222],{"class":116,"line":117},[114,2220,2221],{"class":578},".",[114,2223,2224],{"class":138}," install\u002Fsetup.bash\n",[114,2226,2227,2229,2231,2234],{"class":116,"line":124},[114,2228,265],{"class":134},[114,2230,268],{"class":138},[114,2232,2233],{"class":138}," demo_gazebo_sim",[114,2235,2236],{"class":138}," gazebo_sim_demo.launch.py\n",[17,2238,2239],{},"新开终端，启动键盘控制节点：",[104,2241,2243],{"className":106,"code":2242,"language":108,"meta":109,"style":109},"ros2 run teleop_twist_keyboard teleop_twist_keyboard\n",[111,2244,2245],{"__ignoreMap":109},[114,2246,2247,2249,2251,2253],{"class":116,"line":117},[114,2248,265],{"class":134},[114,2250,665],{"class":138},[114,2252,713],{"class":138},[114,2254,2255],{"class":138}," teleop_twist_keyboard\n",[17,2257,2258,2259,2262,2263,2266,2267,2270],{},"再配置rviz2，将",[111,2260,2261],{},"Fixed Frame","设置为",[111,2264,2265],{},"vehicle_blue\u002Fodom","，添加TF插件，添加Odometry插件并将话题设置为",[111,2268,2269],{},"\u002Fmodel\u002Fvehicle_blue\u002Fodometry","，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。",[17,2272,2273],{},[202,2274],{"alt":109,"src":2275},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1727.webp",[29,2277,2279,2280],{"id":2278},"仿真环境创建-sdf文件","仿真环境创建 ",[52,2281,2282],{},"SDF文件",[17,2284,2285],{},"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。",[17,2287,2288],{},[52,2289,2290],{},"SDF、URDF 和 Xacro 的关系：",[312,2292,2293,2328],{},[315,2294,2295,2298],{},[52,2296,2297],{},"URDF 和 SDF 的区别：",[312,2299,2300,2306,2312,2318],{},[315,2301,2302,2305],{},[52,2303,2304],{},"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。",[315,2307,2308,2311],{},[52,2309,2310],{},"用途："," URDF 是 ROS 的标准；SDF 是 Gazebo 的标准。",[315,2313,2314,2317],{},[52,2315,2316],{},"物理引擎支持："," URDF 通过插件支持 Gazebo；SDF 原生支持 Gazebo。",[315,2319,2320,2323,2324,2327],{},[52,2321,2322],{},"格式转换："," URDF 可以转换为 SDF（通过 ROS 提供的工具",[111,2325,2326],{},"gz sdf -p","）。",[315,2329,2330,2333],{},[52,2331,2332],{},"Xacro 的作用：",[312,2334,2335],{},[315,2336,2337],{},"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。",[2339,2340],"hr",{},[17,2342,2343],{},[52,2344,2345],{},"实践建议",[312,2347,2348,2354,2360],{},[315,2349,2350,2353],{},[52,2351,2352],{},"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。",[315,2355,2356,2359],{},[52,2357,2358],{},"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。",[315,2361,2362,2365],{},[52,2363,2364],{},"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。",[17,2367,2368],{},[52,2369,2370],{},"示例对比",[17,2372,2373],{},"URDF 示例：",[104,2375,2379],{"className":2376,"code":2377,"language":2378,"meta":109,"style":109},"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\" \u002F>\n \u003Cinertia ixx=\"1.0\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"1.0\" iyz=\"0.0\" izz=\"1.0\" \u002F>\n \u003C\u002Finertial>\n \u003C\u002Flink>\n\u003C\u002Frobot>\n\n","xml",[111,2380,2381,2401,2418,2428,2447,2499,2508,2517],{"__ignoreMap":109},[114,2382,2383,2386,2390,2393,2395,2398],{"class":116,"line":117},[114,2384,2385],{"class":148},"\u003C",[114,2387,2389],{"class":2388},"s9eBZ","robot",[114,2391,2392],{"class":134}," name",[114,2394,1699],{"class":148},[114,2396,2397],{"class":138},"\"example_robot\"",[114,2399,2400],{"class":148},">\n",[114,2402,2403,2406,2409,2411,2413,2416],{"class":116,"line":124},[114,2404,2405],{"class":148}," \u003C",[114,2407,2408],{"class":2388},"link",[114,2410,2392],{"class":134},[114,2412,1699],{"class":148},[114,2414,2415],{"class":138},"\"base_link\"",[114,2417,2400],{"class":148},[114,2419,2420,2423,2426],{"class":116,"line":131},[114,2421,2422],{"class":148}," \u003C",[114,2424,2425],{"class":2388},"inertial",[114,2427,2400],{"class":148},[114,2429,2430,2433,2436,2439,2441,2444],{"class":116,"line":155},[114,2431,2432],{"class":148}," \u003C",[114,2434,2435],{"class":2388},"mass",[114,2437,2438],{"class":134}," value",[114,2440,1699],{"class":148},[114,2442,2443],{"class":138},"\"1.0\"",[114,2445,2446],{"class":148}," \u002F>\n",[114,2448,2449,2451,2454,2457,2459,2461,2464,2466,2469,2472,2474,2476,2479,2481,2483,2486,2488,2490,2493,2495,2497],{"class":116,"line":160},[114,2450,2432],{"class":148},[114,2452,2453],{"class":2388},"inertia",[114,2455,2456],{"class":134}," ixx",[114,2458,1699],{"class":148},[114,2460,2443],{"class":138},[114,2462,2463],{"class":134}," ixy",[114,2465,1699],{"class":148},[114,2467,2468],{"class":138},"\"0.0\"",[114,2470,2471],{"class":134}," ixz",[114,2473,1699],{"class":148},[114,2475,2468],{"class":138},[114,2477,2478],{"class":134}," iyy",[114,2480,1699],{"class":148},[114,2482,2443],{"class":138},[114,2484,2485],{"class":134}," iyz",[114,2487,1699],{"class":148},[114,2489,2468],{"class":138},[114,2491,2492],{"class":134}," izz",[114,2494,1699],{"class":148},[114,2496,2443],{"class":138},[114,2498,2446],{"class":148},[114,2500,2501,2504,2506],{"class":116,"line":166},[114,2502,2503],{"class":148}," \u003C\u002F",[114,2505,2425],{"class":2388},[114,2507,2400],{"class":148},[114,2509,2510,2513,2515],{"class":116,"line":178},[114,2511,2512],{"class":148}," \u003C\u002F",[114,2514,2408],{"class":2388},[114,2516,2400],{"class":148},[114,2518,2519,2522,2524],{"class":116,"line":183},[114,2520,2521],{"class":148},"\u003C\u002F",[114,2523,2389],{"class":2388},[114,2525,2400],{"class":148},[17,2527,2528],{},"Xacro 示例（生成 URDF）：",[104,2530,2532],{"className":2376,"code":2531,"language":2378,"meta":109,"style":109},"\u003Cxacro:robot xmlns:xacro=\"http:\u002F\u002Fwww.ros.org\u002Fwiki\u002Fxacro\" name=\"example_robot\">\n \u003Cxacro:macro name=\"base_link\" params=\"mass\">\n \u003Clink name=\"base_link\">\n \u003Cinertial>\n \u003Cmass value=\"${mass}\" \u002F>\n \u003Cinertia ixx=\"1.0\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"1.0\" iyz=\"0.0\" izz=\"1.0\" \u002F>\n \u003C\u002Finertial>\n \u003C\u002Flink>\n \u003C\u002Fxacro:macro>\n\n \u003Cxacro:base_link mass=\"1.0\" \u002F>\n\u003C\u002Fxacro:robot>\n",[111,2533,2534,2557,2580,2594,2602,2618,2662,2671,2679,2687,2691,2707],{"__ignoreMap":109},[114,2535,2536,2538,2541,2544,2546,2549,2551,2553,2555],{"class":116,"line":117},[114,2537,2385],{"class":148},[114,2539,2540],{"class":2388},"xacro:robot",[114,2542,2543],{"class":134}," xmlns:xacro",[114,2545,1699],{"class":148},[114,2547,2548],{"class":138},"\"http:\u002F\u002Fwww.ros.org\u002Fwiki\u002Fxacro\"",[114,2550,2392],{"class":134},[114,2552,1699],{"class":148},[114,2554,2397],{"class":138},[114,2556,2400],{"class":148},[114,2558,2559,2561,2564,2566,2568,2570,2573,2575,2578],{"class":116,"line":124},[114,2560,2405],{"class":148},[114,2562,2563],{"class":2388},"xacro:macro",[114,2565,2392],{"class":134},[114,2567,1699],{"class":148},[114,2569,2415],{"class":138},[114,2571,2572],{"class":134}," params",[114,2574,1699],{"class":148},[114,2576,2577],{"class":138},"\"mass\"",[114,2579,2400],{"class":148},[114,2581,2582,2584,2586,2588,2590,2592],{"class":116,"line":131},[114,2583,2422],{"class":148},[114,2585,2408],{"class":2388},[114,2587,2392],{"class":134},[114,2589,1699],{"class":148},[114,2591,2415],{"class":138},[114,2593,2400],{"class":148},[114,2595,2596,2598,2600],{"class":116,"line":155},[114,2597,2432],{"class":148},[114,2599,2425],{"class":2388},[114,2601,2400],{"class":148},[114,2603,2604,2607,2609,2611,2613,2616],{"class":116,"line":160},[114,2605,2606],{"class":148}," \u003C",[114,2608,2435],{"class":2388},[114,2610,2438],{"class":134},[114,2612,1699],{"class":148},[114,2614,2615],{"class":138},"\"${mass}\"",[114,2617,2446],{"class":148},[114,2619,2620,2622,2624,2626,2628,2630,2632,2634,2636,2638,2640,2642,2644,2646,2648,2650,2652,2654,2656,2658,2660],{"class":116,"line":166},[114,2621,2606],{"class":148},[114,2623,2453],{"class":2388},[114,2625,2456],{"class":134},[114,2627,1699],{"class":148},[114,2629,2443],{"class":138},[114,2631,2463],{"class":134},[114,2633,1699],{"class":148},[114,2635,2468],{"class":138},[114,2637,2471],{"class":134},[114,2639,1699],{"class":148},[114,2641,2468],{"class":138},[114,2643,2478],{"class":134},[114,2645,1699],{"class":148},[114,2647,2443],{"class":138},[114,2649,2485],{"class":134},[114,2651,1699],{"class":148},[114,2653,2468],{"class":138},[114,2655,2492],{"class":134},[114,2657,1699],{"class":148},[114,2659,2443],{"class":138},[114,2661,2446],{"class":148},[114,2663,2664,2667,2669],{"class":116,"line":178},[114,2665,2666],{"class":148}," \u003C\u002F",[114,2668,2425],{"class":2388},[114,2670,2400],{"class":148},[114,2672,2673,2675,2677],{"class":116,"line":183},[114,2674,2503],{"class":148},[114,2676,2408],{"class":2388},[114,2678,2400],{"class":148},[114,2680,2681,2683,2685],{"class":116,"line":189},[114,2682,2512],{"class":148},[114,2684,2563],{"class":2388},[114,2686,2400],{"class":148},[114,2688,2689],{"class":116,"line":436},[114,2690,121],{"emptyLinePlaceholder":120},[114,2692,2693,2695,2698,2701,2703,2705],{"class":116,"line":442},[114,2694,2405],{"class":148},[114,2696,2697],{"class":2388},"xacro:base_link",[114,2699,2700],{"class":134}," mass",[114,2702,1699],{"class":148},[114,2704,2443],{"class":138},[114,2706,2446],{"class":148},[114,2708,2709,2711,2713],{"class":116,"line":448},[114,2710,2521],{"class":148},[114,2712,2540],{"class":2388},[114,2714,2400],{"class":148},[17,2716,2717],{},"SDF 示例：",[104,2719,2721],{"className":2376,"code":2720,"language":2378,"meta":109,"style":109},"\u003Csdf version=\"1.6\">\n \u003Cmodel name=\"example_robot\">\n \u003Clink name=\"base_link\">\n \u003Cinertial>\n \u003Cmass>1.0\u003C\u002Fmass>\n \u003Cinertia>\n \u003Cixx>1.0\u003C\u002Fixx>\n \u003Ciyy>1.0\u003C\u002Fiyy>\n \u003Cizz>1.0\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003C\u002Finertial>\n \u003C\u002Flink>\n \u003C\u002Fmodel>\n\u003C\u002Fsdf>\n\n",[111,2722,2723,2740,2755,2769,2777,2790,2798,2812,2825,2838,2847,2855,2863,2871],{"__ignoreMap":109},[114,2724,2725,2727,2730,2733,2735,2738],{"class":116,"line":117},[114,2726,2385],{"class":148},[114,2728,2729],{"class":2388},"sdf",[114,2731,2732],{"class":134}," version",[114,2734,1699],{"class":148},[114,2736,2737],{"class":138},"\"1.6\"",[114,2739,2400],{"class":148},[114,2741,2742,2744,2747,2749,2751,2753],{"class":116,"line":124},[114,2743,2405],{"class":148},[114,2745,2746],{"class":2388},"model",[114,2748,2392],{"class":134},[114,2750,1699],{"class":148},[114,2752,2397],{"class":138},[114,2754,2400],{"class":148},[114,2756,2757,2759,2761,2763,2765,2767],{"class":116,"line":131},[114,2758,2422],{"class":148},[114,2760,2408],{"class":2388},[114,2762,2392],{"class":134},[114,2764,1699],{"class":148},[114,2766,2415],{"class":138},[114,2768,2400],{"class":148},[114,2770,2771,2773,2775],{"class":116,"line":155},[114,2772,2432],{"class":148},[114,2774,2425],{"class":2388},[114,2776,2400],{"class":148},[114,2778,2779,2781,2783,2786,2788],{"class":116,"line":160},[114,2780,2606],{"class":148},[114,2782,2435],{"class":2388},[114,2784,2785],{"class":148},">1.0\u003C\u002F",[114,2787,2435],{"class":2388},[114,2789,2400],{"class":148},[114,2791,2792,2794,2796],{"class":116,"line":166},[114,2793,2606],{"class":148},[114,2795,2453],{"class":2388},[114,2797,2400],{"class":148},[114,2799,2800,2803,2806,2808,2810],{"class":116,"line":178},[114,2801,2802],{"class":148}," \u003C",[114,2804,2805],{"class":2388},"ixx",[114,2807,2785],{"class":148},[114,2809,2805],{"class":2388},[114,2811,2400],{"class":148},[114,2813,2814,2816,2819,2821,2823],{"class":116,"line":183},[114,2815,2802],{"class":148},[114,2817,2818],{"class":2388},"iyy",[114,2820,2785],{"class":148},[114,2822,2818],{"class":2388},[114,2824,2400],{"class":148},[114,2826,2827,2829,2832,2834,2836],{"class":116,"line":189},[114,2828,2802],{"class":148},[114,2830,2831],{"class":2388},"izz",[114,2833,2785],{"class":148},[114,2835,2831],{"class":2388},[114,2837,2400],{"class":148},[114,2839,2840,2843,2845],{"class":116,"line":436},[114,2841,2842],{"class":148}," \u003C\u002F",[114,2844,2453],{"class":2388},[114,2846,2400],{"class":148},[114,2848,2849,2851,2853],{"class":116,"line":442},[114,2850,2666],{"class":148},[114,2852,2425],{"class":2388},[114,2854,2400],{"class":148},[114,2856,2857,2859,2861],{"class":116,"line":448},[114,2858,2503],{"class":148},[114,2860,2408],{"class":2388},[114,2862,2400],{"class":148},[114,2864,2865,2867,2869],{"class":116,"line":454},[114,2866,2512],{"class":148},[114,2868,2746],{"class":2388},[114,2870,2400],{"class":148},[114,2872,2873,2875,2877],{"class":116,"line":1676},[114,2874,2521],{"class":148},[114,2876,2729],{"class":2388},[114,2878,2400],{"class":148},[17,2880,2881],{},[52,2882,2883],{},"1.创建sdf文件",[17,2885,2886,2887,2890],{},"首先请调用指令",[111,2888,2889],{},"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。",[17,2892,2893],{},"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)。",[17,2895,2896],{},"（以上坐标是指X，Y，Z坐标，没有旋转度）",[17,2898,2899],{},"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。",[17,2901,2902],{},[202,2903],{"alt":109,"src":2904},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1728.webp",[17,2906,2907],{},[202,2908],{"alt":109,"src":2909},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1729.webp",[104,2911,2913],{"className":2376,"code":2912,"language":2378,"meta":109,"style":109},"\u003Csdf version='1.9'>\n \u003Cworld name='empty'>\n \u003Cphysics name='1ms' type='ignored'>\n \u003Cmax_step_size>0.001\u003C\u002Fmax_step_size>\n \u003Creal_time_factor>1\u003C\u002Freal_time_factor>\n \u003Creal_time_update_rate>1000\u003C\u002Freal_time_update_rate>\n \u003C\u002Fphysics>\n \u003Cplugin name='gz::sim::systems::Physics' filename='ignition-gazebo-physics-system'\u002F>\n \u003Cplugin name='gz::sim::systems::UserCommands' filename='ignition-gazebo-user-commands-system'\u002F>\n \u003Cplugin name='gz::sim::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'\u002F>\n \u003Cplugin name='gz::sim::systems::Contact' filename='ignition-gazebo-contact-system'\u002F>\n \u003Cgravity>0 0 -9.8\u003C\u002Fgravity>\n \u003Cmagnetic_field>6e-06 2.3e-05 -4.2e-05\u003C\u002Fmagnetic_field>\n \u003Catmosphere type='adiabatic'\u002F>\n \u003Cscene>\n \u003Cambient>0.4 0.4 0.4 1\u003C\u002Fambient>\n \u003Cbackground>0.7 0.7 0.7 1\u003C\u002Fbackground>\n \u003Cshadows>true\u003C\u002Fshadows>\n \u003C\u002Fscene>\n \u003Cmodel name='ground_plane'>\n \u003Cstatic>true\u003C\u002Fstatic>\n \u003Clink name='link'>\n \u003Ccollision name='collision'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C\u002Fnormal>\n \u003Csize>100 100\u003C\u002Fsize>\n \u003C\u002Fplane>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='visual'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C\u002Fnormal>\n \u003Csize>100 100\u003C\u002Fsize>\n \u003C\u002Fplane>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.8 0.8 0.8 1\u003C\u002Fambient>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C\u002Fdiffuse>\n \u003Cspecular>0.8 0.8 0.8 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cinertial>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cinertia>\n \u003Cixx>1\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>1\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>1\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003C\u002Finertial>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cself_collide>false\u003C\u002Fself_collide>\n \u003C\u002Fmodel>\n \u003Cmodel name='box'>\n \u003Cpose>5.0 0 0.5 -0 0 0\u003C\u002Fpose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>16.666\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>16.666\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003C\u002Finertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C\u002Fambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C\u002Fdiffuse>\n \u003Cspecular>1 1 1 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n \u003Cstatic>false\u003C\u002Fstatic>\n \u003Cself_collide>false\u003C\u002Fself_collide>\n \u003C\u002Fmodel>\n \u003Cmodel name='box_0'>\n \u003Cpose>-5.0 -0 0.50000 -0 0 0\u003C\u002Fpose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>16.666\u003C\u002Fiyy>\n 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1 1\u003C\u002Fsize>","修改为",[111,6162,6163],{},"\u003Csize>0.1 5 1\u003C\u002Fsize>",[111,6165,6146],{},[111,6167,6149],{},[111,6169,6159],{},[111,6171,6172],{},"\u003Csize>10 0.1 1\u003C\u002Fsize>","（",[6175,6176,6177],"em",{},"注意：每个",[111,6179,6132],{},[6175,6181,6182],{},"标签下，都包含两个",[111,6184,6185],{},"\u003Csize>",[6175,6187,6188],{},"标签，分别位于",[111,6190,6191],{},"\u003Ccollision>",[6175,6193,6194],{},"标签和",[111,6196,6197],{},"\u003Cvisual>",[6175,6199,6200],{},"标签下，两个",[111,6202,6185],{},[6175,6204,6205],{},"标签内容都需要修改",[17,6207,6208],{},"修改后与的house.sdf文件内容如下：",[104,6210,6212],{"className":2376,"code":6211,"language":2378,"meta":109,"style":109},"\u003Csdf version='1.9'>\n \u003Cworld name='empty'>\n \u003Cphysics name='1ms' type='ignored'>\n \u003Cmax_step_size>0.001\u003C\u002Fmax_step_size>\n \u003Creal_time_factor>1\u003C\u002Freal_time_factor>\n \u003Creal_time_update_rate>1000\u003C\u002Freal_time_update_rate>\n \u003C\u002Fphysics>\n \u003Cplugin name='ign::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'\u002F>\n \u003Cplugin name='ign::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'\u002F>\n \u003Cplugin name='ign::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'\u002F>\n \u003Cplugin name='ign::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'\u002F>\n \u003Cgravity>0 0 -9.8\u003C\u002Fgravity>\n \u003Cmagnetic_field>6e-06 2.3e-05 -4.2e-05\u003C\u002Fmagnetic_field>\n \u003Catmosphere type='adiabatic'\u002F>\n \u003Cscene>\n \u003Cambient>0.4 0.4 0.4 1\u003C\u002Fambient>\n \u003Cbackground>0.7 0.7 0.7 1\u003C\u002Fbackground>\n \u003Cshadows>true\u003C\u002Fshadows>\n \u003C\u002Fscene>\n \u003Cmodel name='ground_plane'>\n \u003Cstatic>true\u003C\u002Fstatic>\n \u003Clink name='link'>\n \u003Ccollision name='collision'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C\u002Fnormal>\n \u003Csize>100 100\u003C\u002Fsize>\n \u003C\u002Fplane>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='visual'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C\u002Fnormal>\n \u003Csize>100 100\u003C\u002Fsize>\n \u003C\u002Fplane>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.8 0.8 0.8 1\u003C\u002Fambient>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C\u002Fdiffuse>\n \u003Cspecular>0.8 0.8 0.8 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cinertial>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cinertia>\n \u003Cixx>1\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>1\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>1\u003C\u002Fizz>\n \u003C\u002Finertia>\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",[111,9108,9109,9115,9119,9129,9133,9143,9153,9163,9167,9175,9179,9191,9203,9221,9225,9233,9237,9249,9257,9269,9273,9277,9283,9288],{"__ignoreMap":109},[114,9110,9111,9113],{"class":116,"line":117},[114,9112,1558],{"class":767},[114,9114,1561],{"class":148},[114,9116,9117],{"class":116,"line":124},[114,9118,121],{"emptyLinePlaceholder":120},[114,9120,9121,9123,9125,9127],{"class":116,"line":131},[114,9122,1570],{"class":767},[114,9124,1573],{"class":148},[114,9126,1558],{"class":767},[114,9128,1578],{"class":148},[114,9130,9131],{"class":116,"line":155},[114,9132,121],{"emptyLinePlaceholder":120},[114,9134,9135,9137,9139,9141],{"class":116,"line":160},[114,9136,1570],{"class":767},[114,9138,1589],{"class":148},[114,9140,1558],{"class":767},[114,9142,1594],{"class":148},[114,9144,9145,9147,9149,9151],{"class":116,"line":166},[114,9146,1570],{"class":767},[114,9148,1601],{"class":148},[114,9150,1558],{"class":767},[114,9152,1617],{"class":148},[114,9154,9155,9157,9159,9161],{"class":116,"line":178},[114,9156,1570],{"class":767},[114,9158,1636],{"class":148},[114,9160,1558],{"class":767},[114,9162,1641],{"class":148},[114,9164,9165],{"class":116,"line":183},[114,9166,121],{"emptyLinePlaceholder":120},[114,9168,9169,9171,9173],{"class":116,"line":189},[114,9170,1679],{"class":767},[114,9172,1682],{"class":134},[114,9174,1685],{"class":148},[114,9176,9177],{"class":116,"line":436},[114,9178,121],{"emptyLinePlaceholder":120},[114,9180,9181,9183,9185,9187,9189],{"class":116,"line":442},[114,9182,1696],{"class":148},[114,9184,1699],{"class":767},[114,9186,1702],{"class":148},[114,9188,1705],{"class":138},[114,9190,1468],{"class":148},[114,9192,9193,9195,9197,9199,9201],{"class":116,"line":448},[114,9194,1713],{"class":148},[114,9196,1699],{"class":767},[114,9198,1702],{"class":148},[114,9200,1720],{"class":138},[114,9202,1468],{"class":148},[114,9204,9205,9207,9209,9211,9214,9216,9219],{"class":116,"line":454},[114,9206,1728],{"class":148},[114,9208,1699],{"class":767},[114,9210,1733],{"class":148},[114,9212,9213],{"class":138},"\"world\"",[114,9215,1739],{"class":148},[114,9217,9218],{"class":138},"\"house.sdf\"",[114,9220,1468],{"class":148},[114,9222,9223],{"class":116,"line":1676},[114,9224,121],{"emptyLinePlaceholder":120},[114,9226,9227,9229,9231],{"class":116,"line":1688},[114,9228,1755],{"class":148},[114,9230,1699],{"class":767},[114,9232,1760],{"class":148},[114,9234,9235],{"class":116,"line":1693},[114,9236,1766],{"class":148},[114,9238,9239,9241,9243,9245,9247],{"class":116,"line":1710},[114,9240,1772],{"class":148},[114,9242,1775],{"class":138},[114,9244,1778],{"class":148},[114,9246,1781],{"class":138},[114,9248,1784],{"class":148},[114,9250,9251,9253,9255],{"class":116,"line":1725},[114,9252,1791],{"class":1790},[114,9254,1699],{"class":767},[114,9256,1796],{"class":148},[114,9258,9259,9261,9263,9265,9267],{"class":116,"line":1747},[114,9260,1802],{"class":138},[114,9262,1805],{"class":148},[114,9264,1808],{"class":138},[114,9266,1811],{"class":767},[114,9268,1814],{"class":148},[114,9270,9271],{"class":116,"line":1752},[114,9272,1820],{"class":148},[114,9274,9275],{"class":116,"line":1763},[114,9276,1826],{"class":148},[114,9278,9279,9281],{"class":116,"line":1769},[114,9280,2104],{"class":767},[114,9282,2107],{"class":148},[114,9284,9285],{"class":116,"line":1787},[114,9286,9287],{"class":148}," gz_sim\n",[114,9289,9290],{"class":116,"line":1799},[114,9291,2164],{"class":148},[17,9293,9294],{},[52,9295,9296],{},"4.构建",[17,9298,2180],{},[104,9300,9301],{"className":106,"code":2183,"language":108,"meta":109,"style":109},[111,9302,9303],{"__ignoreMap":109},[114,9304,9305,9307,9309,9311],{"class":116,"line":117},[114,9306,2190],{"class":134},[114,9308,2193],{"class":138},[114,9310,2196],{"class":578},[114,9312,1434],{"class":138},[17,9314,9315],{},[52,9316,9317],{},"5.执行",[17,9319,2211],{},[104,9321,9323],{"className":106,"code":9322,"language":108,"meta":109,"style":109},". install\u002Fsetup.bash\nros2 launch demo_gazebo_sim gazebo_sim_world.launch.py\n",[111,9324,9325,9331],{"__ignoreMap":109},[114,9326,9327,9329],{"class":116,"line":117},[114,9328,2221],{"class":578},[114,9330,2224],{"class":138},[114,9332,9333,9335,9337,9339],{"class":116,"line":124},[114,9334,265],{"class":134},[114,9336,268],{"class":138},[114,9338,2233],{"class":138},[114,9340,9341],{"class":138}," gazebo_sim_world.launch.py\n",[17,9343,9344],{},"运行结果如下图所示。",[17,9346,9347],{},"也可以根据个人喜好，继续设计房间模型。",[17,9349,9350],{},[202,9351],{"alt":109,"src":9352},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1730.webp",[29,9354,9356],{"id":9355},"igng添加模型",[52,9357,9358],{},"IgnG添加模型",[17,9360,9361],{},"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。",[17,9363,9364],{},[52,9365,9366],{},"资源下载",[17,9368,9369],{},"仿真Ignition Gazebo的官方模型链接：",[17,9371,9372],{},[57,9373,9374],{"href":9374,"rel":9375},"http:\u002F\u002Fapp.ignitionrobotics.org\u002Ffuel\u002Fmodels",[61],[17,9377,9378],{},"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。",[17,9380,9381],{},"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。",[17,9383,9384],{},[52,9385,9386],{},"资源配置",[17,9388,9389],{},"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：",[104,9391,9393],{"className":106,"code":9392,"language":108,"meta":109,"style":109},"\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=~\u002Fign_models\n\n# Jazzy版本的宏改了，如下：\nexport GZ_SIM_RESOURCE_PATH=~\u002Fign_models\n",[111,9394,9395,9399,9404,9418,9422,9427],{"__ignoreMap":109},[114,9396,9397],{"class":116,"line":117},[114,9398,121],{"emptyLinePlaceholder":120},[114,9400,9401],{"class":116,"line":124},[114,9402,9403],{"class":127},"# 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",[114,9405,9406,9409,9412,9415],{"class":116,"line":131},[114,9407,9408],{"class":767},"export",[114,9410,9411],{"class":148}," IGN_GAZEBO_RESOURCE_PATH",[114,9413,9414],{"class":767},"=~",[114,9416,9417],{"class":148},"\u002Fign_models\n",[114,9419,9420],{"class":116,"line":155},[114,9421,121],{"emptyLinePlaceholder":120},[114,9423,9424],{"class":116,"line":160},[114,9425,9426],{"class":127},"# Jazzy版本的宏改了，如下：\n",[114,9428,9429,9431,9434,9436],{"class":116,"line":166},[114,9430,9408],{"class":767},[114,9432,9433],{"class":148}," GZ_SIM_RESOURCE_PATH",[114,9435,9414],{"class":767},[114,9437,9417],{"class":148},[17,9439,9440],{},[57,9441,9442],{"href":9442,"rel":9443},"https:\u002F\u002Fgazebosim.org\u002Fdocs\u002Flatest\u002Ffuel_insert\u002F",[61],[17,9445,9446],{},[52,9447,9448],{},"模型添加",[17,9450,9451,9452,9455,9456,9459,9460,9463,9464,9467],{},"终端下进入功能包demo_gazebo_sim的world目录，使用指令",[111,9453,9454],{},"ign gazebo house.sdf"," 或者",[111,9457,9458],{},"gz sim house.sdf","启动仿真环境，点击窗口右上的折叠按钮，搜索",[111,9461,9462],{},"Resource Spawner","并打开，点击",[111,9465,9466],{},"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。",[17,9469,9470],{},[202,9471],{"alt":109,"src":9472},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1731.webp",[17,9474,9475],{},"正常下载资源后，这个local resources这里就会显示了",[17,9477,9478],{},"house.sdf文件示例内容如下：",[104,9480,9482],{"className":2376,"code":9481,"language":2378,"meta":109,"style":109},"\u003Csdf version='1.9'>\n \u003Cworld name='empty'>\n \u003Cphysics name='1ms' type='ignored'>\n \u003Cmax_step_size>0.001\u003C\u002Fmax_step_size>\n \u003Creal_time_factor>1\u003C\u002Freal_time_factor>\n \u003Creal_time_update_rate>1000\u003C\u002Freal_time_update_rate>\n \u003C\u002Fphysics>\n \u003Cplugin name='gz::sim::systems::Physics' filename='ignition-gazebo-physics-system'\u002F>\n \u003Cplugin name='gz::sim::systems::UserCommands' filename='ignition-gazebo-user-commands-system'\u002F>\n \u003Cplugin name='gz::sim::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'\u002F>\n \u003Cplugin name='gz::sim::systems::Contact' filename='ignition-gazebo-contact-system'\u002F>\n \u003Cgravity>0 0 -9.8\u003C\u002Fgravity>\n \u003Cmagnetic_field>6e-06 2.3e-05 -4.2e-05\u003C\u002Fmagnetic_field>\n \u003Catmosphere type='adiabatic'\u002F>\n \u003Cscene>\n \u003Cambient>0.4 0.4 0.4 1\u003C\u002Fambient>\n \u003Cbackground>0.7 0.7 0.7 1\u003C\u002Fbackground>\n \u003Cshadows>true\u003C\u002Fshadows>\n \u003C\u002Fscene>\n \u003Cmodel name='ground_plane'>\n \u003Cstatic>true\u003C\u002Fstatic>\n \u003Clink name='link'>\n \u003Ccollision name='collision'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C\u002Fnormal>\n \u003Csize>100 100\u003C\u002Fsize>\n \u003C\u002Fplane>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='visual'>\n \u003Cgeometry>\n \u003Cplane>\n \u003Cnormal>0 0 1\u003C\u002Fnormal>\n \u003Csize>100 100\u003C\u002Fsize>\n \u003C\u002Fplane>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.8 0.8 0.8 1\u003C\u002Fambient>\n \u003Cdiffuse>0.8 0.8 0.8 1\u003C\u002Fdiffuse>\n \u003Cspecular>0.8 0.8 0.8 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cinertial>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cinertia>\n \u003Cixx>1\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>1\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>1\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003C\u002Finertial>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cself_collide>false\u003C\u002Fself_collide>\n \u003C\u002Fmodel>\n \u003Cmodel name='box'>\n \u003Cpose>5.02632 -2e-06 0.500002 -0 4.4e-05 4.6e-05\u003C\u002Fpose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>16.666\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>16.666\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003C\u002Finertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C\u002Fambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C\u002Fdiffuse>\n \u003Cspecular>1 1 1 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n \u003Cstatic>false\u003C\u002Fstatic>\n \u003Cself_collide>false\u003C\u002Fself_collide>\n \u003C\u002Fmodel>\n \u003Cmodel name='box_0'>\n \u003Cpose>-5.01336 -0.00029 0.500002 0 -4.2e-05 -0.005335\u003C\u002Fpose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>16.666\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>16.666\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003C\u002Finertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>0.1 5 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C\u002Fambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C\u002Fdiffuse>\n \u003Cspecular>1 1 1 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n \u003Cstatic>false\u003C\u002Fstatic>\n \u003Cself_collide>false\u003C\u002Fself_collide>\n \u003C\u002Fmodel>\n \u003Cmodel name='box_1'>\n \u003Cpose>-0 -2.5 0.5 1e-06 0 0\u003C\u002Fpose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>16.666\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>16.666\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003C\u002Finertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C\u002Fambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C\u002Fdiffuse>\n \u003Cspecular>1 1 1 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n \u003Cstatic>false\u003C\u002Fstatic>\n \u003Cself_collide>false\u003C\u002Fself_collide>\n \u003C\u002Fmodel>\n \u003Cmodel name='box_2'>\n \u003Cpose>-0.000154 2.52488 0.500821 -0.018068 -0 -0.003156\u003C\u002Fpose>\n \u003Clink name='box_link'>\n \u003Cinertial>\n \u003Cinertia>\n \u003Cixx>16.666\u003C\u002Fixx>\n \u003Cixy>0\u003C\u002Fixy>\n \u003Cixz>0\u003C\u002Fixz>\n \u003Ciyy>16.666\u003C\u002Fiyy>\n \u003Ciyz>0\u003C\u002Fiyz>\n \u003Cizz>16.666\u003C\u002Fizz>\n \u003C\u002Finertia>\n \u003Cmass>100\u003C\u002Fmass>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003C\u002Finertial>\n \u003Ccollision name='box_collision'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Csurface>\n \u003Cfriction>\n \u003Code\u002F>\n \u003C\u002Ffriction>\n \u003Cbounce\u002F>\n \u003Ccontact\u002F>\n \u003C\u002Fsurface>\n \u003C\u002Fcollision>\n \u003Cvisual name='box_visual'>\n \u003Cgeometry>\n \u003Cbox>\n \u003Csize>10 0.1 1\u003C\u002Fsize>\n \u003C\u002Fbox>\n \u003C\u002Fgeometry>\n \u003Cmaterial>\n \u003Cambient>0.3 0.3 0.3 1\u003C\u002Fambient>\n \u003Cdiffuse>0.7 0.7 0.7 1\u003C\u002Fdiffuse>\n \u003Cspecular>1 1 1 1\u003C\u002Fspecular>\n \u003C\u002Fmaterial>\n \u003C\u002Fvisual>\n \u003Cpose>0 0 0 0 -0 0\u003C\u002Fpose>\n \u003Cenable_wind>false\u003C\u002Fenable_wind>\n \u003C\u002Flink>\n 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0.634325 -0.010992 0.021648 0 -1.57\u003C\u002F",[114,12402,3550],{"class":2388},[114,12404,2400],{"class":148},[114,12406,12408,12410,12412],{"class":116,"line":12407},281,[114,12409,2503],{"class":148},[114,12411,12140],{"class":2388},[114,12413,2400],{"class":148},[114,12415,12417,12419,12421],{"class":116,"line":12416},282,[114,12418,2422],{"class":148},[114,12420,12140],{"class":2388},[114,12422,2400],{"class":148},[114,12424,12426,12428,12430,12433,12435],{"class":116,"line":12425},283,[114,12427,2432],{"class":148},[114,12429,12149],{"class":2388},[114,12431,12432],{"class":148},">file:\u002F\u002FDining Table\u003C\u002F",[114,12434,12149],{"class":2388},[114,12436,2400],{"class":148},[114,12438,12440,12442,12444,12447,12449],{"class":116,"line":12439},284,[114,12441,2432],{"class":148},[114,12443,6136],{"class":2388},[114,12445,12446],{"class":148},">DiningTable\u003C\u002F",[114,12448,6136],{"class":2388},[114,12450,2400],{"class":148},[114,12452,12454,12456,12458,12461,12463],{"class":116,"line":12453},285,[114,12455,2432],{"class":148},[114,12457,3550],{"class":2388},[114,12459,12460],{"class":148},">-0.374337 1.33602 0 0 0 -1.57\u003C\u002F",[114,12462,3550],{"class":2388},[114,12464,2400],{"class":148},[114,12466,12468,12470,12472],{"class":116,"line":12467},286,[114,12469,2503],{"class":148},[114,12471,12140],{"class":2388},[114,12473,2400],{"class":148},[114,12475,12477,12479,12481],{"class":116,"line":12476},287,[114,12478,2422],{"class":148},[114,12480,12140],{"class":2388},[114,12482,2400],{"class":148},[114,12484,12486,12488,12490,12493,12495],{"class":116,"line":12485},288,[114,12487,2432],{"class":148},[114,12489,12149],{"class":2388},[114,12491,12492],{"class":148},">file:\u002F\u002FChair\u003C\u002F",[114,12494,12149],{"class":2388},[114,12496,2400],{"class":148},[114,12498,12500,12502,12504,12507,12509],{"class":116,"line":12499},289,[114,12501,2432],{"class":148},[114,12503,6136],{"class":2388},[114,12505,12506],{"class":148},">Chair\u003C\u002F",[114,12508,6136],{"class":2388},[114,12510,2400],{"class":148},[114,12512,12514,12516,12518,12521,12523],{"class":116,"line":12513},290,[114,12515,2432],{"class":148},[114,12517,3550],{"class":2388},[114,12519,12520],{"class":148},">2.79762 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-1.92328 0.000119 -0 0 1.57\u003C\u002F",[114,12582,3550],{"class":2388},[114,12584,2400],{"class":148},[114,12586,12588,12590,12592],{"class":116,"line":12587},296,[114,12589,2503],{"class":148},[114,12591,12140],{"class":2388},[114,12593,2400],{"class":148},[114,12595,12597,12599,12601,12603,12605,12607,12609,12611,12613],{"class":116,"line":12596},297,[114,12598,2422],{"class":148},[114,12600,5856],{"class":2388},[114,12602,2392],{"class":134},[114,12604,1699],{"class":148},[114,12606,5863],{"class":138},[114,12608,2962],{"class":134},[114,12610,1699],{"class":148},[114,12612,5870],{"class":138},[114,12614,2400],{"class":148},[114,12616,12618,12620,12622,12624,12626],{"class":116,"line":12617},298,[114,12619,2432],{"class":148},[114,12621,3550],{"class":2388},[114,12623,5882],{"class":148},[114,12625,3550],{"class":2388},[114,12627,2400],{"class":148},[114,12629,12631,12633,12635,12637,12639],{"class":116,"line":12630},299,[114,12632,2432],{"class":148},[114,12634,5894],{"class":2388},[114,12636,3201],{"class":148},[114,12638,5894],{"class":2388},[114,12640,2400],{"class":148},[114,12642,12644,12646,12648,12650,12652],{"class":116,"line":12643},300,[114,12645,2432],{"class":148},[114,12647,5908],{"class":2388},[114,12649,2993],{"class":148},[114,12651,5908],{"class":2388},[114,12653,2400],{"class":148},[114,12655,12657,12659,12661,12663,12665],{"class":116,"line":12656},301,[114,12658,2432],{"class":148},[114,12660,5922],{"class":2388},[114,12662,5925],{"class":148},[114,12664,5922],{"class":2388},[114,12666,2400],{"class":148},[114,12668,12670,12672,12674,12676,12678],{"class":116,"line":12669},302,[114,12671,2432],{"class":148},[114,12673,3508],{"class":2388},[114,12675,3497],{"class":148},[114,12677,3508],{"class":2388},[114,12679,2400],{"class":148},[114,12681,12683,12685,12687,12689,12691],{"class":116,"line":12682},303,[114,12684,2432],{"class":148},[114,12686,3521],{"class":2388},[114,12688,5952],{"class":148},[114,12690,3521],{"class":2388},[114,12692,2400],{"class":148},[114,12694,12696,12698,12700],{"class":116,"line":12695},304,[114,12697,2432],{"class":148},[114,12699,5964],{"class":2388},[114,12701,2400],{"class":148},[114,12703,12705,12707,12709,12711,12713],{"class":116,"line":12704},305,[114,12706,2606],{"class":148},[114,12708,5974],{"class":2388},[114,12710,3007],{"class":148},[114,12712,5974],{"class":2388},[114,12714,2400],{"class":148},[114,12716,12718,12720,12722,12724,12726],{"class":116,"line":12717},306,[114,12719,2606],{"class":148},[114,12721,5988],{"class":2388},[114,12723,5991],{"class":148},[114,12725,5988],{"class":2388},[114,12727,2400],{"class":148},[114,12729,12731,12733,12735,12737,12739],{"class":116,"line":12730},307,[114,12732,2606],{"class":148},[114,12734,6003],{"class":2388},[114,12736,6006],{"class":148},[114,12738,6003],{"class":2388},[114,12740,2400],{"class":148},[114,12742,12744,12746,12748,12750,12752],{"class":116,"line":12743},308,[114,12745,2606],{"class":148},[114,12747,6018],{"class":2388},[114,12749,2979],{"class":148},[114,12751,6018],{"class":2388},[114,12753,2400],{"class":148},[114,12755,12757,12759,12761],{"class":116,"line":12756},309,[114,12758,2666],{"class":148},[114,12760,5964],{"class":2388},[114,12762,2400],{"class":148},[114,12764,12766,12768,12770],{"class":116,"line":12765},310,[114,12767,2432],{"class":148},[114,12769,6041],{"class":2388},[114,12771,2400],{"class":148},[114,12773,12775,12777,12779,12781,12783],{"class":116,"line":12774},311,[114,12776,2606],{"class":148},[114,12778,6051],{"class":2388},[114,12780,3620],{"class":148},[114,12782,6051],{"class":2388},[114,12784,2400],{"class":148},[114,12786,12788,12790,12792,12794,12796],{"class":116,"line":12787},312,[114,12789,2606],{"class":148},[114,12791,6065],{"class":2388},[114,12793,3620],{"class":148},[114,12795,6065],{"class":2388},[114,12797,2400],{"class":148},[114,12799,12801,12803,12805,12807,12809],{"class":116,"line":12800},313,[114,12802,2606],{"class":148},[114,12804,6079],{"class":2388},[114,12806,3620],{"class":148},[114,12808,6079],{"class":2388},[114,12810,2400],{"class":148},[114,12812,12814,12816,12818],{"class":116,"line":12813},314,[114,12815,2666],{"class":148},[114,12817,6041],{"class":2388},[114,12819,2400],{"class":148},[114,12821,12823,12825,12827],{"class":116,"line":12822},315,[114,12824,2503],{"class":148},[114,12826,5856],{"class":2388},[114,12828,2400],{"class":148},[114,12830,12832,12834,12836],{"class":116,"line":12831},316,[114,12833,2512],{"class":148},[114,12835,2936],{"class":2388},[114,12837,2400],{"class":148},[114,12839,12841,12843,12845],{"class":116,"line":12840},317,[114,12842,2521],{"class":148},[114,12844,2729],{"class":2388},[114,12846,2400],{"class":148},[17,12848,12849],{},[52,12850,2177],{},[17,12852,2180],{},[104,12854,12855],{"className":106,"code":2183,"language":108,"meta":109,"style":109},[111,12856,12857],{"__ignoreMap":109},[114,12858,12859,12861,12863,12865],{"class":116,"line":117},[114,12860,2190],{"class":134},[114,12862,2193],{"class":138},[114,1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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）。",[17,12908,12909],{},"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.",[17,12911,12912],{},[57,12913,12914],{"href":12914,"rel":12915},"https:\u002F\u002Fgithub.com\u002Ftungchiahui\u002FROS2_WS\u002Ftree\u002Fmain\u002F6.ws_simulations",[61],[17,12917,12918],{},[52,12919,12920],{},"准备机器人模型功能包",[17,12922,12923],{},"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。",[17,12925,12926],{},[52,12927,12928],{},"机器人模型功能包下新建launch文件",[17,12930,12931],{},"新建launch文件mycar_desc_sim.launch.py，并输入如下内容：",[104,12933,12935],{"className":1549,"code":12934,"language":1551,"meta":109,"style":109},"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`\u002Furdf\u002Furdf\u002Fdemo01_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",[111,12936,12937,12947,12957,12963,12973,12985,12996,13006,13010,13015,13023,13027,13044,13048,13062,13087,13113,13117,13122,13126,13131,13152,13161,13172,13182,13196,13200,13204,13210,13215,13220],{"__ignoreMap":109},[114,12938,12939,12941,12943,12945],{"class":116,"line":117},[114,12940,1570],{"class":767},[114,12942,1589],{"class":148},[114,12944,1558],{"class":767},[114,12946,1594],{"class":148},[114,12948,12949,12951,12953,12955],{"class":116,"line":124},[114,12950,1570],{"class":767},[114,12952,1664],{"class":148},[114,12954,1558],{"class":767},[114,12956,1669],{"class":148},[114,12958,12959,12961],{"class":116,"line":131},[114,12960,1558],{"class":767},[114,12962,1561],{"class":148},[114,12964,12965,12967,12969,12971],{"class":116,"line":155},[114,12966,1570],{"class":767},[114,12968,1573],{"class":148},[114,12970,1558],{"class":767},[114,12972,1578],{"class":148},[114,12974,12975,12977,12980,12982],{"class":116,"line":160},[114,12976,1570],{"class":767},[114,12978,12979],{"class":148}," launch_ros.parameter_descriptions ",[114,12981,1558],{"class":767},[114,12983,12984],{"class":148}," ParameterValue\n",[114,12986,12987,12989,12991,12993],{"class":116,"line":166},[114,12988,1570],{"class":767},[114,12990,1648],{"class":148},[114,12992,1558],{"class":767},[114,12994,12995],{"class":148}," Command,LaunchConfiguration\n",[114,12997,12998,13000,13002,13004],{"class":116,"line":178},[114,12999,1570],{"class":767},[114,13001,1601],{"class":148},[114,13003,1558],{"class":767},[114,13005,1606],{"class":148},[114,13007,13008],{"class":116,"line":183},[114,13009,121],{"emptyLinePlaceholder":120},[114,13011,13012],{"class":116,"line":189},[114,13013,13014],{"class":127},"#示例： ros2 launch cpp06_urdf display.launch.py model:=`ros2 pkg prefix --share cpp06_urdf`\u002Furdf\u002Furdf\u002Fdemo01_helloworld.urdf\n",[114,13016,13017,13019,13021],{"class":116,"line":436},[114,13018,1679],{"class":767},[114,13020,1682],{"class":134},[114,13022,1685],{"class":148},[114,13024,13025],{"class":116,"line":442},[114,13026,121],{"emptyLinePlaceholder":120},[114,13028,13029,13032,13035,13038,13041],{"class":116,"line":448},[114,13030,13031],{"class":578}," MYCAR_MODEL",[114,13033,13034],{"class":767}," =",[114,13036,13037],{"class":148}," os.environ[",[114,13039,13040],{"class":138},"'MYCAR_MODEL'",[114,13042,13043],{"class":148},"]\n",[114,13045,13046],{"class":116,"line":454},[114,13047,121],{"emptyLinePlaceholder":120},[114,13049,13050,13053,13055,13057,13060],{"class":116,"line":1676},[114,13051,13052],{"class":148}," mycar_description ",[114,13054,1699],{"class":767},[114,13056,1702],{"class":148},[114,13058,13059],{"class":138},"\"mycar_description\"",[114,13061,1468],{"class":148},[114,13063,13064,13067,13069,13072,13075,13077,13080,13082,13085],{"class":116,"line":1688},[114,13065,13066],{"class":148}," default_model_path ",[114,13068,1699],{"class":767},[114,13070,13071],{"class":148}," os.path.join(mycar_description,",[114,13073,13074],{"class":138},"\"urdf\"",[114,13076,1739],{"class":148},[114,13078,13079],{"class":578},"MYCAR_MODEL",[114,13081,1811],{"class":767},[114,13083,13084],{"class":138}," \".urdf\"",[114,13086,1468],{"class":148},[114,13088,13089,13092,13094,13097,13099,13101,13104,13106,13108,13110],{"class":116,"line":1693},[114,13090,13091],{"class":148}," model ",[114,13093,1699],{"class":767},[114,13095,13096],{"class":148}," DeclareLaunchArgument(",[114,13098,6136],{"class":1790},[114,13100,1699],{"class":767},[114,13102,13103],{"class":138},"\"model\"",[114,13105,1778],{"class":148},[114,13107,2126],{"class":1790},[114,13109,1699],{"class":767},[114,13111,13112],{"class":148},"default_model_path)\n",[114,13114,13115],{"class":116,"line":1710},[114,13116,121],{"emptyLinePlaceholder":120},[114,13118,13119],{"class":116,"line":1725},[114,13120,13121],{"class":127}," # 加载机器人模型\n",[114,13123,13124],{"class":116,"line":1747},[114,13125,121],{"emptyLinePlaceholder":120},[114,13127,13128],{"class":116,"line":1752},[114,13129,13130],{"class":127}," # 启动 robot_state_publisher 节点并以参数方式加载 urdf 文件\n",[114,13132,13133,13136,13138,13141,13144,13147,13149],{"class":116,"line":1763},[114,13134,13135],{"class":148}," robot_description ",[114,13137,1699],{"class":767},[114,13139,13140],{"class":148}," ParameterValue(Command([",[114,13142,13143],{"class":138},"\"xacro \"",[114,13145,13146],{"class":148},",LaunchConfiguration(",[114,13148,13103],{"class":138},[114,13150,13151],{"class":148},")]))\n",[114,13153,13154,13157,13159],{"class":116,"line":1769},[114,13155,13156],{"class":148}," robot_state_publisher ",[114,13158,1699],{"class":767},[114,13160,1848],{"class":148},[114,13162,13163,13165,13167,13170],{"class":116,"line":1787},[114,13164,1949],{"class":1790},[114,13166,1699],{"class":767},[114,13168,13169],{"class":138},"\"robot_state_publisher\"",[114,13171,1862],{"class":148},[114,13173,13174,13176,13178,13180],{"class":116,"line":1799},[114,13175,1962],{"class":1790},[114,13177,1699],{"class":767},[114,13179,13169],{"class":138},[114,13181,1862],{"class":148},[114,13183,13184,13186,13188,13190,13193],{"class":116,"line":1817},[114,13185,2012],{"class":1790},[114,13187,1699],{"class":767},[114,13189,2017],{"class":148},[114,13191,13192],{"class":138},"\"robot_description\"",[114,13194,13195],{"class":148},": robot_description}]\n",[114,13197,13198],{"class":116,"line":1823},[114,13199,1826],{"class":148},[114,13201,13202],{"class":116,"line":1829},[114,13203,121],{"emptyLinePlaceholder":120},[114,13205,13206,13208],{"class":116,"line":1834},[114,13207,2104],{"class":767},[114,13209,2107],{"class":148},[114,13211,13212],{"class":116,"line":1840},[114,13213,13214],{"class":148}," model,\n",[114,13216,13217],{"class":116,"line":1851},[114,13218,13219],{"class":148}," robot_state_publisher,\n",[114,13221,13222],{"class":116,"line":1865},[114,13223,2164],{"class":148},[17,13225,13226],{},"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。",[17,13228,13229],{},[52,13230,13231],{},"添加机器人模型",[17,13233,13234],{},"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：",[104,13236,13238],{"className":1549,"code":13237,"language":1551,"meta":109,"style":109},"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\", \"\u002Frobot_description\"],\n output=\"screen\")\n\n return LaunchDescription([\n gz_sim,\n spawn,\n mycar_desc,\n ])\n",[111,13239,13240,13246,13250,13260,13264,13274,13284,13294,13304,13308,13316,13320,13333,13346,13359,13375,13379,13387,13391,13405,13413,13427,13431,13435,13444,13448,13462,13467,13471,13500,13509,13521,13533,13548,13559,13572,13584,13588,13594,13598,13603,13608],{"__ignoreMap":109},[114,13241,13242,13244],{"class":116,"line":117},[114,13243,1558],{"class":767},[114,13245,1561],{"class":148},[114,13247,13248],{"class":116,"line":124},[114,13249,121],{"emptyLinePlaceholder":120},[114,13251,13252,13254,13256,13258],{"class":116,"line":131},[114,13253,1570],{"class":767},[114,13255,1573],{"class":148},[114,13257,1558],{"class":767},[114,13259,1578],{"class":148},[114,13261,13262],{"class":116,"line":155},[114,13263,121],{"emptyLinePlaceholder":120},[114,13265,13266,13268,13270,13272],{"class":116,"line":160},[114,13267,1570],{"class":767},[114,13269,1589],{"class":148},[114,13271,1558],{"class":767},[114,13273,1594],{"class":148},[114,13275,13276,13278,13280,13282],{"class":116,"line":166},[114,13277,1570],{"class":767},[114,13279,1601],{"class":148},[114,13281,1558],{"class":767},[114,13283,1617],{"class":148},[114,13285,13286,13288,13290,13292],{"class":116,"line":178},[114,13287,1570],{"class":767},[114,13289,1636],{"class":148},[114,13291,1558],{"class":767},[114,13293,1641],{"class":148},[114,13295,13296,13298,13300,13302],{"class":116,"line":183},[114,13297,1570],{"class":767},[114,13299,1664],{"class":148},[114,13301,1558],{"class":767},[114,13303,1669],{"class":148},[114,13305,13306],{"class":116,"line":189},[114,13307,121],{"emptyLinePlaceholder":120},[114,13309,13310,13312,13314],{"class":116,"line":436},[114,13311,1679],{"class":767},[114,13313,1682],{"class":134},[114,13315,1685],{"class":148},[114,13317,13318],{"class":116,"line":442},[114,13319,121],{"emptyLinePlaceholder":120},[114,13321,13322,13324,13326,13328,13331],{"class":116,"line":448},[114,13323,1696],{"class":148},[114,13325,1699],{"class":767},[114,13327,1702],{"class":148},[114,13329,13330],{"class":138},"\"demo_gazebo_sim\"",[114,13332,1468],{"class":148},[114,13334,13335,13338,13340,13342,13344],{"class":116,"line":454},[114,13336,13337],{"class":148}," mycar_desc_pkg ",[114,13339,1699],{"class":767},[114,13341,1702],{"class":148},[114,13343,13059],{"class":138},[114,13345,1468],{"class":148},[114,13347,13348,13350,13352,13354,13357],{"class":116,"line":1676},[114,13349,1713],{"class":148},[114,13351,1699],{"class":767},[114,13353,1702],{"class":148},[114,13355,13356],{"class":138},"\"ros_gz_sim\"",[114,13358,1468],{"class":148},[114,13360,13361,13363,13365,13367,13369,13371,13373],{"class":116,"line":1688},[114,13362,1728],{"class":148},[114,13364,1699],{"class":767},[114,13366,1733],{"class":148},[114,13368,9213],{"class":138},[114,13370,1739],{"class":148},[114,13372,9218],{"class":138},[114,13374,1468],{"class":148},[114,13376,13377],{"class":116,"line":1693},[114,13378,121],{"emptyLinePlaceholder":120},[114,13380,13381,13383,13385],{"class":116,"line":1710},[114,13382,1755],{"class":148},[114,13384,1699],{"class":767},[114,13386,1760],{"class":148},[114,13388,13389],{"class":116,"line":1725},[114,13390,1766],{"class":148},[114,13392,13393,13395,13398,13400,13403],{"class":116,"line":1747},[114,13394,1772],{"class":148},[114,13396,13397],{"class":138},"\"launch\"",[114,13399,1778],{"class":148},[114,13401,13402],{"class":138},"\"gz_sim.launch.py\"",[114,13404,1784],{"class":148},[114,13406,13407,13409,13411],{"class":116,"line":1752},[114,13408,1791],{"class":1790},[114,13410,1699],{"class":767},[114,13412,1796],{"class":148},[114,13414,13415,13418,13420,13423,13425],{"class":116,"line":1763},[114,13416,13417],{"class":138}," \"gz_args\"",[114,13419,1805],{"class":148},[114,13421,13422],{"class":138},"\"-r \"",[114,13424,1811],{"class":767},[114,13426,1814],{"class":148},[114,13428,13429],{"class":116,"line":1769},[114,13430,1820],{"class":148},[114,13432,13433],{"class":116,"line":1787},[114,13434,1826],{"class":148},[114,13436,13437,13440,13442],{"class":116,"line":1799},[114,13438,13439],{"class":148}," mycar_desc ",[114,13441,1699],{"class":767},[114,13443,1760],{"class":148},[114,13445,13446],{"class":116,"line":1817},[114,13447,1766],{"class":148},[114,13449,13450,13453,13455,13457,13460],{"class":116,"line":1823},[114,13451,13452],{"class":148}," os.path.join(mycar_desc_pkg,",[114,13454,13397],{"class":138},[114,13456,1739],{"class":148},[114,13458,13459],{"class":138},"\"mycar_desc_sim.launch.py\"",[114,13461,1468],{"class":148},[114,13463,13464],{"class":116,"line":1829},[114,13465,13466],{"class":148}," )\n",[114,13468,13469],{"class":116,"line":1834},[114,13470,1826],{"class":148},[114,13472,13473,13476,13478,13481,13484,13486,13488,13490,13493,13495,13498],{"class":116,"line":1840},[114,13474,13475],{"class":148}," spawn ",[114,13477,1699],{"class":767},[114,13479,13480],{"class":148}," Node(",[114,13482,13483],{"class":1790},"package",[114,13485,1699],{"class":767},[114,13487,13356],{"class":138},[114,13489,1778],{"class":148},[114,13491,13492],{"class":1790},"executable",[114,13494,1699],{"class":767},[114,13496,13497],{"class":138},"\"create\"",[114,13499,1862],{"class":148},[114,13501,13502,13505,13507],{"class":116,"line":1851},[114,13503,13504],{"class":1790}," arguments",[114,13506,1699],{"class":767},[114,13508,2039],{"class":148},[114,13510,13511,13514,13516,13519],{"class":116,"line":1865},[114,13512,13513],{"class":138}," \"-name\"",[114,13515,1778],{"class":148},[114,13517,13518],{"class":138},"\"mycar\"",[114,13520,1862],{"class":148},[114,13522,13523,13526,13528,13531],{"class":116,"line":1877},[114,13524,13525],{"class":138}," \"-x\"",[114,13527,1778],{"class":148},[114,13529,13530],{"class":138},"\"0\"",[114,13532,1862],{"class":148},[114,13534,13535,13538,13540,13543,13545],{"class":116,"line":1904},[114,13536,13537],{"class":138}," \"-z\"",[114,13539,1778],{"class":148},[114,13541,13542],{"class":138},"\"0.01\"",[114,13544,1778],{"class":148},[114,13546,13547],{"class":127},"#设置为0,可能会陷进地里\n",[114,13549,13550,13553,13555,13557],{"class":116,"line":1920},[114,13551,13552],{"class":138}," \"-y\"",[114,13554,1778],{"class":148},[114,13556,13530],{"class":138},[114,13558,1862],{"class":148},[114,13560,13561,13564,13566,13569],{"class":116,"line":1925},[114,13562,13563],{"class":138}," \"-topic\"",[114,13565,1778],{"class":148},[114,13567,13568],{"class":138},"\"\u002Frobot_description\"",[114,13570,13571],{"class":148},"],\n",[114,13573,13574,13577,13579,13582],{"class":116,"line":1930},[114,13575,13576],{"class":1790}," output",[114,13578,1699],{"class":767},[114,13580,13581],{"class":138},"\"screen\"",[114,13583,1468],{"class":148},[114,13585,13586],{"class":116,"line":1936},[114,13587,121],{"emptyLinePlaceholder":120},[114,13589,13590,13592],{"class":116,"line":1946},[114,13591,2104],{"class":767},[114,13593,2107],{"class":148},[114,13595,13596],{"class":116,"line":1959},[114,13597,2113],{"class":148},[114,13599,13600],{"class":116,"line":1972},[114,13601,13602],{"class":148}," spawn,\n",[114,13604,13605],{"class":116,"line":1987},[114,13606,13607],{"class":148}," mycar_desc,\n",[114,13609,13610],{"class":116,"line":1995},[114,13611,2164],{"class":148},[17,13613,13614],{},[52,13615,2177],{},[17,13617,2180],{},[104,13619,13621],{"className":106,"code":13620,"language":108,"meta":109,"style":109},"colcon build --packages-select mycar_description demo_gazebo_sim\n",[111,13622,13623],{"__ignoreMap":109},[114,13624,13625,13627,13629,13632,13635],{"class":116,"line":117},[114,13626,2190],{"class":134},[114,13628,2193],{"class":138},[114,13630,13631],{"class":578}," --packages-select",[114,13633,13634],{"class":138}," mycar_description",[114,13636,1434],{"class":138},[17,13638,13639],{},[52,13640,2208],{},[17,13642,13643],{},"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）",[104,13645,13647],{"className":106,"code":13646,"language":108,"meta":109,"style":109},". install\u002Fsetup.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",[111,13648,13649,13655,13659,13664,13676],{"__ignoreMap":109},[114,13650,13651,13653],{"class":116,"line":117},[114,13652,2221],{"class":578},[114,13654,2224],{"class":138},[114,13656,13657],{"class":116,"line":124},[114,13658,121],{"emptyLinePlaceholder":120},[114,13660,13661],{"class":116,"line":131},[114,13662,13663],{"class":127},"# 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",[114,13665,13666,13668,13671,13673],{"class":116,"line":155},[114,13667,9408],{"class":767},[114,13669,13670],{"class":148}," MYCAR_MODEL",[114,13672,1699],{"class":767},[114,13674,13675],{"class":148},"stm32_4w\n",[114,13677,13678,13680,13682,13684],{"class":116,"line":160},[114,13679,265],{"class":134},[114,13681,268],{"class":138},[114,13683,2233],{"class":138},[114,13685,9341],{"class":138},[17,13687,9344],{},[17,13689,13690],{},[202,13691],{"alt":109,"src":13692},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1733.webp",[29,13694,13696,13697],{"id":13695},"igng运动控制器实质上就是标签","   IgnG运动控制器(实质上就是",[13698,13699,13700],"gazebo",{},"标签)",[17,13702,13703],{},"本节将介绍如何让你的机器人动起来。",[17,13705,13706,13707],{},"原理就是给urdf或xacro等添加",[13698,13708,13709],{},"标签：",[17,13711,13712],{},[57,13713,13714],{"href":13714,"rel":13715},"http:\u002F\u002Fsdformat.org\u002Ftutorials?tut=sdformat_urdf_extensions&cat=specification&",[61],[17,13717,13718],{},[202,13719],{"alt":109,"src":13720},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1734.webp",[17,13722,13723],{},[57,13724,13725],{"href":13725,"rel":13726},"https:\u002F\u002Fgazebosim.org\u002Fapi\u002Fplugin\u002F2\u002Findex.html",[61],[17,13728,13729],{},"安装库：",[17,13731,13732],{},[57,13733,13734],{"href":13734,"rel":13735},"https:\u002F\u002Fgazebosim.org\u002Fapi\u002Fplugin\u002F2\u002Finstallation.html",[61],[104,13737,13739],{"className":106,"code":13738,"language":108,"meta":109,"style":109},"sudo apt-get update\nsudo apt-get install lsb-release\nsudo sh -c 'echo \"deb http:\u002F\u002Fpackages.osrfoundation.org\u002Fgazebo\u002Fubuntu-stable `lsb_release -cs` main\" > \u002Fetc\u002Fapt\u002Fsources.list.d\u002Fgazebo-stable.list'\nwget http:\u002F\u002Fpackages.osrfoundation.org\u002Fgazebo.key -O - | sudo apt-key add -\nsudo apt-get update\nsudo apt install libgz-plugin2-dev\n",[111,13740,13741,13751,13762,13775,13804,13812],{"__ignoreMap":109},[114,13742,13743,13745,13748],{"class":116,"line":117},[114,13744,135],{"class":134},[114,13746,13747],{"class":138}," apt-get",[114,13749,13750],{"class":138}," update\n",[114,13752,13753,13755,13757,13759],{"class":116,"line":124},[114,13754,135],{"class":134},[114,13756,13747],{"class":138},[114,13758,142],{"class":138},[114,13760,13761],{"class":138}," lsb-release\n",[114,13763,13764,13766,13769,13772],{"class":116,"line":131},[114,13765,135],{"class":134},[114,13767,13768],{"class":138}," sh",[114,13770,13771],{"class":578}," -c",[114,13773,13774],{"class":138}," 'echo \"deb http:\u002F\u002Fpackages.osrfoundation.org\u002Fgazebo\u002Fubuntu-stable `lsb_release -cs` main\" > \u002Fetc\u002Fapt\u002Fsources.list.d\u002Fgazebo-stable.list'\n",[114,13776,13777,13780,13783,13786,13789,13792,13795,13798,13801],{"class":116,"line":155},[114,13778,13779],{"class":134},"wget",[114,13781,13782],{"class":138}," http:\u002F\u002Fpackages.osrfoundation.org\u002Fgazebo.key",[114,13784,13785],{"class":578}," -O",[114,13787,13788],{"class":138}," -",[114,13790,13791],{"class":767}," |",[114,13793,13794],{"class":134}," sudo",[114,13796,13797],{"class":138}," apt-key",[114,13799,13800],{"class":138}," add",[114,13802,13803],{"class":138}," -\n",[114,13805,13806,13808,13810],{"class":116,"line":160},[114,13807,135],{"class":134},[114,13809,13747],{"class":138},[114,13811,13750],{"class":138},[114,13813,13814,13816,13818,13820],{"class":116,"line":166},[114,13815,135],{"class":134},[114,13817,139],{"class":138},[114,13819,142],{"class":138},[114,13821,13822],{"class":138}," libgz-plugin2-dev\n",[17,13824,13825],{},"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",[17,13827,13828],{},"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：",[920,13830,13831,13841],{},[923,13832,13833],{},[926,13834,13835,13838],{},[929,13836,13837],{"align":931},"配置项",[929,13839,13840],{"align":931},"含义",[937,13842,13843,13851,13859,13867,13875,13883,13891,13899,13907,13915,13923,13931,13939],{},[926,13844,13845,13848],{},[942,13846,13847],{"align":931},"ros",[942,13849,13850],{"align":931},"ros相关配置，包含命名空间和话题重映射等",[926,13852,13853,13856],{},[942,13854,13855],{"align":931},"update_rate",[942,13857,13858],{"align":931},"数据更新速率",[926,13860,13861,13864],{},[942,13862,13863],{"align":931},"left_joint",[942,13865,13866],{"align":931},"左轮关节名称",[926,13868,13869,13872],{},[942,13870,13871],{"align":931},"right_joint",[942,13873,13874],{"align":931},"右轮关节名称",[926,13876,13877,13880],{},[942,13878,13879],{"align":931},"wheel_separation",[942,13881,13882],{"align":931},"左右轮子的间距",[926,13884,13885,13888],{},[942,13886,13887],{"align":931},"wheel_diameter",[942,13889,13890],{"align":931},"轮子的直径",[926,13892,13893,13896],{},[942,13894,13895],{"align":931},"max_wheel_torque",[942,13897,13898],{"align":931},"轮子最大的力矩",[926,13900,13901,13904],{},[942,13902,13903],{"align":931},"max_wheel_acceleration",[942,13905,13906],{"align":931},"轮子最大的加速度",[926,13908,13909,13912],{},[942,13910,13911],{"align":931},"publish_odom",[942,13913,13914],{"align":931},"是否发布里程计",[926,13916,13917,13920],{},[942,13918,13919],{"align":931},"publish_odom_tf",[942,13921,13922],{"align":931},"是否发布里程计的tf开关",[926,13924,13925,13928],{},[942,13926,13927],{"align":931},"publish_wheel_tf",[942,13929,13930],{"align":931},"是否发布轮子的tf数据开关",[926,13932,13933,13936],{},[942,13934,13935],{"align":931},"odometry_frame",[942,13937,13938],{"align":931},"里程计的framed ID，最终体现在话题和TF上",[926,13940,13941,13944],{},[942,13942,13943],{"align":931},"robot_base_frame",[942,13945,13946],{"align":931},"机器人的基础frame的ID",[17,13948,13949],{},[52,13950,13951],{},"修改URDF文件",[17,13953,13954,13955,13958],{},"arduino.urdf 和 stm32_2w.urdf 文件中，在",[111,13956,13957],{},"\u003Crobot>","根标签下添加如下代码：",[104,13960,13962],{"className":2376,"code":13961,"language":2378,"meta":109,"style":109},"\n \u003Cgazebo>\n \u003Cplugin filename=\"libignition-gazebo-diff-drive-system.so\"\n name=\"ignition::gazebo::systems::DiffDrive\">\n \u003Cleft_joint>left_joint\u003C\u002Fleft_joint>\n \u003Cright_joint>right_joint\u003C\u002Fright_joint>\n \u003Cwheel_separation>0.2097\u003C\u002Fwheel_separation>\n \u003Cwheel_radius>0.03415\u003C\u002Fwheel_radius>\n \u003Codom_publish_frequency>10\u003C\u002Fodom_publish_frequency>\n \u003Cframe_id>odom\u003C\u002Fframe_id>\n \u003Cchild_frame_id>base_footprint\u003C\u002Fchild_frame_id>\n \u003Ctopic>\u002Fcmd_vel\u003C\u002Ftopic>\n \u003Cmax_linear_acceleration>10\u003C\u002Fmax_linear_acceleration>\n \u003Cmin_linear_acceleration>-10\u003C\u002Fmin_linear_acceleration>\n \u003Cmax_angular_acceleration>10\u003C\u002Fmax_angular_acceleration>\n \u003Cmin_angular_acceleration>-10\u003C\u002Fmin_angular_acceleration>\n \u003Cmax_linear_velocity>0.5\u003C\u002Fmax_linear_velocity>\n \u003Cmin_linear_velocity>-0.5\u003C\u002Fmin_linear_velocity>\n \u003Cmax_angular_velocity>1\u003C\u002Fmax_angular_velocity>\n \u003Cmin_angular_velocity>-1\u003C\u002Fmin_angular_velocity>\n \u003C\u002Fplugin>\n\n \u003C\u002Fgazebo>\n\n \u003Cgazebo>\n \u003Cplugin filename=\"ignition-gazebo-joint-state-publisher-system\"\n name=\"ignition::gazebo::systems::JointStatePublisher\">\n \u003C\u002Fplugin>\n \u003C\u002Fgazebo>\n",[111,13963,13964,13968,13976,13989,14001,14014,14027,14040,14054,14068,14082,14096,14110,14123,14137,14150,14163,14177,14191,14204,14218,14226,14230,14238,14242,14250,14263,14275,14283],{"__ignoreMap":109},[114,13965,13966],{"class":116,"line":117},[114,13967,121],{"emptyLinePlaceholder":120},[114,13969,13970,13972,13974],{"class":116,"line":124},[114,13971,2405],{"class":148},[114,13973,13698],{"class":2388},[114,13975,2400],{"class":148},[114,13977,13978,13980,13982,13984,13986],{"class":116,"line":131},[114,13979,2432],{"class":148},[114,13981,3026],{"class":2388},[114,13983,3036],{"class":134},[114,13985,1699],{"class":148},[114,13987,13988],{"class":138},"\"libignition-gazebo-diff-drive-system.so\"\n",[114,13990,13991,13994,13996,13999],{"class":116,"line":155},[114,13992,13993],{"class":134}," name",[114,13995,1699],{"class":148},[114,13997,13998],{"class":138},"\"ignition::gazebo::systems::DiffDrive\"",[114,14000,2400],{"class":148},[114,14002,14003,14005,14007,14010,14012],{"class":116,"line":160},[114,14004,2606],{"class":148},[114,14006,13863],{"class":2388},[114,14008,14009],{"class":148},">left_joint\u003C\u002F",[114,14011,13863],{"class":2388},[114,14013,2400],{"class":148},[114,14015,14016,14018,14020,14023,14025],{"class":116,"line":166},[114,14017,2606],{"class":148},[114,14019,13871],{"class":2388},[114,14021,14022],{"class":148},">right_joint\u003C\u002F",[114,14024,13871],{"class":2388},[114,14026,2400],{"class":148},[114,14028,14029,14031,14033,14036,14038],{"class":116,"line":178},[114,14030,2606],{"class":148},[114,14032,13879],{"class":2388},[114,14034,14035],{"class":148},">0.2097\u003C\u002F",[114,14037,13879],{"class":2388},[114,14039,2400],{"class":148},[114,14041,14042,14044,14047,14050,14052],{"class":116,"line":183},[114,14043,2606],{"class":148},[114,14045,14046],{"class":2388},"wheel_radius",[114,14048,14049],{"class":148},">0.03415\u003C\u002F",[114,14051,14046],{"class":2388},[114,14053,2400],{"class":148},[114,14055,14056,14058,14061,14064,14066],{"class":116,"line":189},[114,14057,2606],{"class":148},[114,14059,14060],{"class":2388},"odom_publish_frequency",[114,14062,14063],{"class":148},">10\u003C\u002F",[114,14065,14060],{"class":2388},[114,14067,2400],{"class":148},[114,14069,14070,14072,14075,14078,14080],{"class":116,"line":436},[114,14071,2606],{"class":148},[114,14073,14074],{"class":2388},"frame_id",[114,14076,14077],{"class":148},">odom\u003C\u002F",[114,14079,14074],{"class":2388},[114,14081,2400],{"class":148},[114,14083,14084,14086,14089,14092,14094],{"class":116,"line":442},[114,14085,2606],{"class":148},[114,14087,14088],{"class":2388},"child_frame_id",[114,14090,14091],{"class":148},">base_footprint\u003C\u002F",[114,14093,14088],{"class":2388},[114,14095,2400],{"class":148},[114,14097,14098,14100,14103,14106,14108],{"class":116,"line":448},[114,14099,2606],{"class":148},[114,14101,14102],{"class":2388},"topic",[114,14104,14105],{"class":148},">\u002Fcmd_vel\u003C\u002F",[114,14107,14102],{"class":2388},[114,14109,2400],{"class":148},[114,14111,14112,14114,14117,14119,14121],{"class":116,"line":454},[114,14113,2606],{"class":148},[114,14115,14116],{"class":2388},"max_linear_acceleration",[114,14118,14063],{"class":148},[114,14120,14116],{"class":2388},[114,14122,2400],{"class":148},[114,14124,14125,14127,14130,14133,14135],{"class":116,"line":1676},[114,14126,2606],{"class":148},[114,14128,14129],{"class":2388},"min_linear_acceleration",[114,14131,14132],{"class":148},">-10\u003C\u002F",[114,14134,14129],{"class":2388},[114,14136,2400],{"class":148},[114,14138,14139,14141,14144,14146,14148],{"class":116,"line":1688},[114,14140,2606],{"class":148},[114,14142,14143],{"class":2388},"max_angular_acceleration",[114,14145,14063],{"class":148},[114,14147,14143],{"class":2388},[114,14149,2400],{"class":148},[114,14151,14152,14154,14157,14159,14161],{"class":116,"line":1693},[114,14153,2606],{"class":148},[114,14155,14156],{"class":2388},"min_angular_acceleration",[114,14158,14132],{"class":148},[114,14160,14156],{"class":2388},[114,14162,2400],{"class":148},[114,14164,14165,14167,14170,14173,14175],{"class":116,"line":1710},[114,14166,2606],{"class":148},[114,14168,14169],{"class":2388},"max_linear_velocity",[114,14171,14172],{"class":148},">0.5\u003C\u002F",[114,14174,14169],{"class":2388},[114,14176,2400],{"class":148},[114,14178,14179,14181,14184,14187,14189],{"class":116,"line":1725},[114,14180,2606],{"class":148},[114,14182,14183],{"class":2388},"min_linear_velocity",[114,14185,14186],{"class":148},">-0.5\u003C\u002F",[114,14188,14183],{"class":2388},[114,14190,2400],{"class":148},[114,14192,14193,14195,14198,14200,14202],{"class":116,"line":1747},[114,14194,2606],{"class":148},[114,14196,14197],{"class":2388},"max_angular_velocity",[114,14199,2993],{"class":148},[114,14201,14197],{"class":2388},[114,14203,2400],{"class":148},[114,14205,14206,14208,14211,14214,14216],{"class":116,"line":1752},[114,14207,2606],{"class":148},[114,14209,14210],{"class":2388},"min_angular_velocity",[114,14212,14213],{"class":148},">-1\u003C\u002F",[114,14215,14210],{"class":2388},[114,14217,2400],{"class":148},[114,14219,14220,14222,14224],{"class":116,"line":1763},[114,14221,2666],{"class":148},[114,14223,3026],{"class":2388},[114,14225,2400],{"class":148},[114,14227,14228],{"class":116,"line":1769},[114,14229,121],{"emptyLinePlaceholder":120},[114,14231,14232,14234,14236],{"class":116,"line":1787},[114,14233,2512],{"class":148},[114,14235,13698],{"class":2388},[114,14237,2400],{"class":148},[114,14239,14240],{"class":116,"line":1799},[114,14241,121],{"emptyLinePlaceholder":120},[114,14243,14244,14246,14248],{"class":116,"line":1817},[114,14245,2405],{"class":148},[114,14247,13698],{"class":2388},[114,14249,2400],{"class":148},[114,14251,14252,14254,14256,14258,14260],{"class":116,"line":1823},[114,14253,2422],{"class":148},[114,14255,3026],{"class":2388},[114,14257,3036],{"class":134},[114,14259,1699],{"class":148},[114,14261,14262],{"class":138},"\"ignition-gazebo-joint-state-publisher-system\"\n",[114,14264,14265,14268,14270,14273],{"class":116,"line":1829},[114,14266,14267],{"class":134}," name",[114,14269,1699],{"class":148},[114,14271,14272],{"class":138},"\"ignition::gazebo::systems::JointStatePublisher\"",[114,14274,2400],{"class":148},[114,14276,14277,14279,14281],{"class":116,"line":1834},[114,14278,2503],{"class":148},[114,14280,3026],{"class":2388},[114,14282,2400],{"class":148},[114,14284,14285,14287,14289],{"class":116,"line":1840},[114,14286,2512],{"class":148},[114,14288,13698],{"class":2388},[114,14290,2400],{"class":148},[17,14292,14293,14294,13958],{},"stm32_4w.urdf 文件中，在",[111,14295,13957],{},[104,14297,14299],{"className":2376,"code":14298,"language":2378,"meta":109,"style":109},"\n\u003Cgazebo>\n \u003Cplugin\n filename=\"ignition-gazebo-diff-drive-system\"\n name=\"ignition::gazebo::systems::DiffDrive\">\n \u003Cleft_joint>left_former_joint\u003C\u002Fleft_joint>\n \u003Cleft_joint>left_rear_joint\u003C\u002Fleft_joint>\n \u003Cright_joint>right_former_joint\u003C\u002Fright_joint>\n \u003Cright_joint>right_rear_joint\u003C\u002Fright_joint>\n \u003Cwheel_separation>0.4\u003C\u002Fwheel_separation>\n \u003Cwheel_radius>0.0415\u003C\u002Fwheel_radius>\n \u003Codom_publish_frequency>50\u003C\u002Fodom_publish_frequency>\n \u003Cframe_id>odom\u003C\u002Fframe_id>\n \u003Cchild_frame_id>base_footprint\u003C\u002Fchild_frame_id>\n \u003Ctopic>\u002Fcmd_vel\u003C\u002Ftopic>\n \u003Cmax_linear_acceleration>10\u003C\u002Fmax_linear_acceleration>\n \u003Cmin_linear_acceleration>-10\u003C\u002Fmin_linear_acceleration>\n \u003Cmax_angular_acceleration>10\u003C\u002Fmax_angular_acceleration>\n \u003Cmin_angular_acceleration>-10\u003C\u002Fmin_angular_acceleration>\n \u003Cmax_linear_velocity>0.5\u003C\u002Fmax_linear_velocity>\n \u003Cmin_linear_velocity>-0.5\u003C\u002Fmin_linear_velocity>\n \u003Cmax_angular_velocity>1\u003C\u002Fmax_angular_velocity>\n \u003Cmin_angular_velocity>-1\u003C\u002Fmin_angular_velocity>\n \u003C\u002Fplugin>\n \u003C\u002Fgazebo>\n\n \u003Cgazebo>\n \u003Cplugin filename=\"ignition-gazebo-joint-state-publisher-system\"\n name=\"ignition::gazebo::systems::JointStatePublisher\">\n \u003C\u002Fplugin>\n \u003C\u002Fgazebo>\n",[111,14300,14301,14305,14313,14320,14330,14340,14353,14366,14379,14392,14405,14418,14431,14443,14455,14467,14479,14491,14503,14515,14527,14539,14551,14563,14571,14579,14583,14591,14603,14613,14621],{"__ignoreMap":109},[114,14302,14303],{"class":116,"line":117},[114,14304,121],{"emptyLinePlaceholder":120},[114,14306,14307,14309,14311],{"class":116,"line":124},[114,14308,2385],{"class":148},[114,14310,13698],{"class":2388},[114,14312,2400],{"class":148},[114,14314,14315,14317],{"class":116,"line":131},[114,14316,2422],{"class":148},[114,14318,14319],{"class":2388},"plugin\n",[114,14321,14322,14325,14327],{"class":116,"line":155},[114,14323,14324],{"class":134}," 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name=\"mycar\" xmlns:xacro=\"http:\u002F\u002Fwiki.ros.org\u002Fxacro\">\n\n \u003Cxacro:macro name=\"joint_trans\" params=\"joint_name\">\n\n \u003Ctransmission name=\"${joint_name}_trans\">\n \u003Ctype>transmission_interface\u002FSimpleTransmission\u003C\u002Ftype>\n \u003Cjoint name=\"${joint_name}\">\n \u003ChardwareInterface>hardware_interface\u002FVelocityJointInterface\u003C\u002FhardwareInterface>\n \u003C\u002Fjoint>\n \u003Cactuator name=\"${joint_name}_motor\">\n \u003ChardwareInterface>hardware_interface\u002FVelocityJointInterface\u003C\u002FhardwareInterface>\n \u003CmechanicalReduction>1\u003C\u002FmechanicalReduction>\n \u003C\u002Factuator>\n \u003C\u002Ftransmission>\n \u003C\u002Fxacro:macro>\n\n \u003Cxacro:joint_trans joint_name=\"LeftFrontwheelToBase\" \u002F>\n \u003Cxacro:joint_trans joint_name=\"LeftBackwheelToBase\" \u002F>\n \u003Cxacro:joint_trans joint_name=\"RightFrontwheelToBase\" \u002F>\n \u003Cxacro:joint_trans joint_name=\"RightBackwheelToBase\" \u002F>\n\n \u003Cgazebo>\n \u003Cplugin name=\"mecanum_controller\" filename=\"libgazebo_ros_planar_move.so\">\n \u003CcommandTopic>cmd_vel\u003C\u002FcommandTopic>\n \u003CodometryTopic>odom\u003C\u002FodometryTopic>\n \u003CodometryFrame>odom\u003C\u002FodometryFrame>\n \u003CleftFrontJoint>LeftFrontwheelToBase\u003C\u002FleftFrontJoint>\n \u003CrightFrontJoint>RightFrontwheelToBase\u003C\u002FrightFrontJoint>\n \u003CleftRearJoint>LeftBackwheelToBase\u003C\u002FleftRearJoint>\n \u003CrightRearJoint>RightBackwheelToBase\u003C\u002FrightRearJoint>\n \u003CodometryRate>100\u003C\u002FodometryRate>\n \u003CrobotBaseFrame>base_footprint\u003C\u002FrobotBaseFrame>\n \u003CbroadcastTF>1\u003C\u002FbroadcastTF>\n \u003C\u002Fplugin>\n 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":1551,"meta":109,"style":109},"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\", \"\u002Frobot_description\"],\n output=\"screen\")\n\n # Bridge\n bridge = Node(\n package=\"ros_gz_bridge\",\n executable=\"parameter_bridge\",\n arguments=[\"\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist@gz.msgs.Twist\",\n \"\u002Fmodel\u002Fmycar\u002Fodometry@nav_msgs\u002Fmsg\u002FOdometry@gz.msgs.Odometry\",\n \"\u002Fmodel\u002Fmycar\u002Ftf@tf2_msgs\u002Fmsg\u002FTFMessage[gz.msgs.Pose_V\",\n \"\u002Fclock@rosgraph_msgs\u002Fmsg\u002FClock[gz.msgs.Clock\",\n \"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state@sensor_msgs\u002Fmsg\u002FJointState[gz.msgs.Model\",\n ],\n parameters=[{\"qos_overrides.\u002Fmodel\u002Fmycar.subscriber.reliability\": \"reliable\"}],\n remappings=[\n (\"\u002Fmodel\u002Fmycar\u002Ftf\", \"\u002Ftf\"),\n (\"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state\",\"joint_states\"),\n (\"\u002Fmodel\u002Fmycar\u002Fodometry\",\"\u002Fodom\")\n ],\n output=\"screen\"\n )\n\n return LaunchDescription([\n gz_sim,\n spawn,\n mycar_desc,\n bridge\n ])\n",[111,15097,15098,15104,15108,15118,15122,15132,15142,15152,15162,15166,15174,15178,15190,15202,15214,15231,15235,15243,15247,15259,15267,15279,15283,15287,15295,15299,15311,15315,15319,15343,15351,15361,15372,15384,15394,15404,15414,15418,15422,15430,15441,15452,15465,15472,15479,15486,15493,15497,15515,15523,15537,15551,15565,15569,15578,15582,15586,15592,15596,15600,15604,15609],{"__ignoreMap":109},[114,15099,15100,15102],{"class":116,"line":117},[114,15101,1558],{"class":767},[114,15103,1561],{"class":148},[114,15105,15106],{"class":116,"line":124},[114,15107,121],{"emptyLinePlaceholder":120},[114,15109,15110,15112,15114,15116],{"class":116,"line":131},[114,15111,1570],{"class":767},[114,15113,1573],{"class":148},[114,15115,1558],{"class":767},[114,15117,1578],{"class":148},[114,15119,15120],{"class":116,"line":155},[114,15121,121],{"emptyLinePlaceholder":120},[114,15123,15124,15126,15128,15130],{"class":116,"line":160},[114,15125,1570],{"class":767},[114,15127,1589],{"class":148},[114,15129,1558],{"class":767},[114,15131,1594],{"class":148},[114,15133,15134,15136,15138,15140],{"class":116,"line":166},[114,15135,1570],{"class":767},[114,15137,1601],{"class":148},[114,15139,1558],{"class":767},[114,15141,1617],{"class":148},[114,15143,15144,15146,15148,15150],{"class":116,"line":178},[114,15145,1570],{"class":767},[114,15147,1636],{"class":148},[114,15149,1558],{"class":767},[114,15151,1641],{"class":148},[114,15153,15154,15156,15158,15160],{"class":116,"line":183},[114,15155,1570],{"class":767},[114,15157,1664],{"class":148},[114,15159,1558],{"class":767},[114,15161,1669],{"class":148},[114,15163,15164],{"class":116,"line":189},[114,15165,121],{"emptyLinePlaceholder":120},[114,15167,15168,15170,15172],{"class":116,"line":436},[114,15169,1679],{"class":767},[114,15171,1682],{"class":134},[114,15173,1685],{"class":148},[114,15175,15176],{"class":116,"line":442},[114,15177,121],{"emptyLinePlaceholder":120},[114,15179,15180,15182,15184,15186,15188],{"class":116,"line":448},[114,15181,1696],{"class":148},[114,15183,1699],{"class":767},[114,15185,1702],{"class":148},[114,15187,13330],{"class":138},[114,15189,1468],{"class":148},[114,15191,15192,15194,15196,15198,15200],{"class":116,"line":454},[114,15193,13337],{"class":148},[114,15195,1699],{"class":767},[114,15197,1702],{"class":148},[114,15199,13059],{"class":138},[114,15201,1468],{"class":148},[114,15203,15204,15206,15208,15210,15212],{"class":116,"line":1676},[114,15205,1713],{"class":148},[114,15207,1699],{"class":767},[114,15209,1702],{"class":148},[114,15211,13356],{"class":138},[114,15213,1468],{"class":148},[114,15215,15216,15218,15220,15222,15224,15226,15229],{"class":116,"line":1688},[114,15217,1728],{"class":148},[114,15219,1699],{"class":767},[114,15221,1733],{"class":148},[114,15223,9213],{"class":138},[114,15225,1739],{"class":148},[114,15227,15228],{"class":138},"\"base.sdf\"",[114,15230,1468],{"class":148},[114,15232,15233],{"class":116,"line":1693},[114,15234,121],{"emptyLinePlaceholder":120},[114,15236,15237,15239,15241],{"class":116,"line":1710},[114,15238,1755],{"class":148},[114,15240,1699],{"class":767},[114,15242,1760],{"class":148},[114,15244,15245],{"class":116,"line":1725},[114,15246,1766],{"class":148},[114,15248,15249,15251,15253,15255,15257],{"class":116,"line":1747},[114,15250,1772],{"class":148},[114,15252,13397],{"class":138},[114,15254,1778],{"class":148},[114,15256,13402],{"class":138},[114,15258,1784],{"class":148},[114,15260,15261,15263,15265],{"class":116,"line":1752},[114,15262,1791],{"class":1790},[114,15264,1699],{"class":767},[114,15266,1796],{"class":148},[114,15268,15269,15271,15273,15275,15277],{"class":116,"line":1763},[114,15270,13417],{"class":138},[114,15272,1805],{"class":148},[114,15274,13422],{"class":138},[114,15276,1811],{"class":767},[114,15278,1814],{"class":148},[114,15280,15281],{"class":116,"line":1769},[114,15282,1820],{"class":148},[114,15284,15285],{"class":116,"line":1787},[114,15286,1826],{"class":148},[114,15288,15289,15291,15293],{"class":116,"line":1799},[114,15290,13439],{"class":148},[114,15292,1699],{"class":767},[114,15294,1760],{"class":148},[114,15296,15297],{"class":116,"line":1817},[114,15298,1766],{"class":148},[114,15300,15301,15303,15305,15307,15309],{"class":116,"line":1823},[114,15302,13452],{"class":148},[114,15304,13397],{"class":138},[114,15306,1739],{"class":148},[114,15308,13459],{"class":138},[114,15310,1468],{"class":148},[114,15312,15313],{"class":116,"line":1829},[114,15314,13466],{"class":148},[114,15316,15317],{"class":116,"line":1834},[114,15318,1826],{"class":148},[114,15320,15321,15323,15325,15327,15329,15331,15333,15335,15337,15339,15341],{"class":116,"line":1840},[114,15322,13475],{"class":148},[114,15324,1699],{"class":767},[114,15326,13480],{"class":148},[114,15328,13483],{"class":1790},[114,15330,1699],{"class":767},[114,15332,13356],{"class":138},[114,15334,1778],{"class":148},[114,15336,13492],{"class":1790},[114,15338,1699],{"class":767},[114,15340,13497],{"class":138},[114,15342,1862],{"class":148},[114,15344,15345,15347,15349],{"class":116,"line":1851},[114,15346,13504],{"class":1790},[114,15348,1699],{"class":767},[114,15350,2039],{"class":148},[114,15352,15353,15355,15357,15359],{"class":116,"line":1865},[114,15354,13513],{"class":138},[114,15356,1778],{"class":148},[114,15358,13518],{"class":138},[114,15360,1862],{"class":148},[114,15362,15363,15365,15367,15370],{"class":116,"line":1877},[114,15364,13525],{"class":138},[114,15366,1778],{"class":148},[114,15368,15369],{"class":138},"\"-4\"",[114,15371,1862],{"class":148},[114,15373,15374,15376,15378,15380,15382],{"class":116,"line":1904},[114,15375,13537],{"class":138},[114,15377,1778],{"class":148},[114,15379,13542],{"class":138},[114,15381,1778],{"class":148},[114,15383,13547],{"class":127},[114,15385,15386,15388,15390,15392],{"class":116,"line":1920},[114,15387,13552],{"class":138},[114,15389,1778],{"class":148},[114,15391,13530],{"class":138},[114,15393,1862],{"class":148},[114,15395,15396,15398,15400,15402],{"class":116,"line":1925},[114,15397,13563],{"class":138},[114,15399,1778],{"class":148},[114,15401,13568],{"class":138},[114,15403,13571],{"class":148},[114,15405,15406,15408,15410,15412],{"class":116,"line":1930},[114,15407,13576],{"class":1790},[114,15409,1699],{"class":767},[114,15411,13581],{"class":138},[114,15413,1468],{"class":148},[114,15415,15416],{"class":116,"line":1936},[114,15417,121],{"emptyLinePlaceholder":120},[114,15419,15420],{"class":116,"line":1946},[114,15421,1933],{"class":127},[114,15423,15424,15426,15428],{"class":116,"line":1959},[114,15425,1939],{"class":148},[114,15427,1699],{"class":767},[114,15429,1848],{"class":148},[114,15431,15432,15434,15436,15439],{"class":116,"line":1972},[114,15433,1949],{"class":1790},[114,15435,1699],{"class":767},[114,15437,15438],{"class":138},"\"ros_gz_bridge\"",[114,15440,1862],{"class":148},[114,15442,15443,15445,15447,15450],{"class":116,"line":1987},[114,15444,1962],{"class":1790},[114,15446,1699],{"class":767},[114,15448,15449],{"class":138},"\"parameter_bridge\"",[114,15451,1862],{"class":148},[114,15453,15454,15456,15458,15460,15463],{"class":116,"line":1995},[114,15455,1975],{"class":1790},[114,15457,1699],{"class":767},[114,15459,801],{"class":148},[114,15461,15462],{"class":138},"\"\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist@gz.msgs.Twist\"",[114,15464,1862],{"class":148},[114,15466,15467,15470],{"class":116,"line":2003},[114,15468,15469],{"class":138}," \"\u002Fmodel\u002Fmycar\u002Fodometry@nav_msgs\u002Fmsg\u002FOdometry@gz.msgs.Odometry\"",[114,15471,1862],{"class":148},[114,15473,15474,15477],{"class":116,"line":2009},[114,15475,15476],{"class":138}," \"\u002Fmodel\u002Fmycar\u002Ftf@tf2_msgs\u002Fmsg\u002FTFMessage[gz.msgs.Pose_V\"",[114,15478,1862],{"class":148},[114,15480,15481,15484],{"class":116,"line":2031},[114,15482,15483],{"class":138}," \"\u002Fclock@rosgraph_msgs\u002Fmsg\u002FClock[gz.msgs.Clock\"",[114,15485,1862],{"class":148},[114,15487,15488,15491],{"class":116,"line":2042},[114,15489,15490],{"class":138}," \"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state@sensor_msgs\u002Fmsg\u002FJointState[gz.msgs.Model\"",[114,15492,1862],{"class":148},[114,15494,15495],{"class":116,"line":2059},[114,15496,2006],{"class":148},[114,15498,15499,15501,15503,15505,15508,15510,15513],{"class":116,"line":2074},[114,15500,2012],{"class":1790},[114,15502,1699],{"class":767},[114,15504,2017],{"class":148},[114,15506,15507],{"class":138},"\"qos_overrides.\u002Fmodel\u002Fmycar.subscriber.reliability\"",[114,15509,1805],{"class":148},[114,15511,15512],{"class":138},"\"reliable\"",[114,15514,2028],{"class":148},[114,15516,15517,15519,15521],{"class":116,"line":2080},[114,15518,2034],{"class":1790},[114,15520,1699],{"class":767},[114,15522,2039],{"class":148},[114,15524,15525,15527,15530,15532,15535],{"class":116,"line":2091},[114,15526,2045],{"class":148},[114,15528,15529],{"class":138},"\"\u002Fmodel\u002Fmycar\u002Ftf\"",[114,15531,1778],{"class":148},[114,15533,15534],{"class":138},"\"\u002Ftf\"",[114,15536,2056],{"class":148},[114,15538,15539,15541,15544,15546,15549],{"class":116,"line":2096},[114,15540,2045],{"class":148},[114,15542,15543],{"class":138},"\"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state\"",[114,15545,1739],{"class":148},[114,15547,15548],{"class":138},"\"joint_states\"",[114,15550,2056],{"class":148},[114,15552,15553,15555,15558,15560,15563],{"class":116,"line":2101},[114,15554,2045],{"class":148},[114,15556,15557],{"class":138},"\"\u002Fmodel\u002Fmycar\u002Fodometry\"",[114,15559,1739],{"class":148},[114,15561,15562],{"class":138},"\"\u002Fodom\"",[114,15564,1468],{"class":148},[114,15566,15567],{"class":116,"line":2110},[114,15568,2077],{"class":148},[114,15570,15571,15573,15575],{"class":116,"line":2116},[114,15572,2083],{"class":1790},[114,15574,1699],{"class":767},[114,15576,15577],{"class":138},"\"screen\"\n",[114,15579,15580],{"class":116,"line":2136},[114,15581,1826],{"class":148},[114,15583,15584],{"class":116,"line":2149},[114,15585,121],{"emptyLinePlaceholder":120},[114,15587,15588,15590],{"class":116,"line":2155},[114,15589,2104],{"class":767},[114,15591,2107],{"class":148},[114,15593,15594],{"class":116,"line":2161},[114,15595,2113],{"class":148},[114,15597,15598],{"class":116,"line":3640},[114,15599,13602],{"class":148},[114,15601,15602],{"class":116,"line":3653},[114,15603,13607],{"class":148},[114,15605,15606],{"class":116,"line":3667},[114,15607,15608],{"class":148}," bridge\n",[114,15610,15611],{"class":116,"line":3680},[114,15612,2164],{"class":148},[17,15614,15615],{},[52,15616,2177],{},[17,15618,2180],{},[104,15620,15621],{"className":106,"code":13620,"language":108,"meta":109,"style":109},[111,15622,15623],{"__ignoreMap":109},[114,15624,15625,15627,15629,15631,15633],{"class":116,"line":117},[114,15626,2190],{"class":134},[114,15628,2193],{"class":138},[114,15630,13631],{"class":578},[114,15632,13634],{"class":138},[114,15634,1434],{"class":138},[17,15636,15637],{},[52,15638,2208],{},[17,15640,2211],{},[104,15642,15644],{"className":106,"code":15643,"language":108,"meta":109,"style":109},". install\u002Fsetup.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",[111,15645,15646,15652,15665],{"__ignoreMap":109},[114,15647,15648,15650],{"class":116,"line":117},[114,15649,2221],{"class":578},[114,15651,2224],{"class":138},[114,15653,15654,15656,15658,15660,15663],{"class":116,"line":124},[114,15655,9408],{"class":767},[114,15657,13670],{"class":148},[114,15659,1699],{"class":767},[114,15661,15662],{"class":148},"stm32_4w ",[114,15664,13663],{"class":127},[114,15666,15667,15669,15671,15673],{"class":116,"line":131},[114,15668,265],{"class":134},[114,15670,268],{"class":138},[114,15672,2233],{"class":138},[114,15674,9341],{"class":138},[17,15676,15677],{},"再启动键盘控制节点，就可以控制机器人运动了。",[104,15679,15680],{"className":106,"code":2242,"language":108,"meta":109,"style":109},[111,15681,15682],{"__ignoreMap":109},[114,15683,15684,15686,15688,15690],{"class":116,"line":117},[114,15685,265],{"class":134},[114,15687,665],{"class":138},[114,15689,713],{"class":138},[114,15691,2255],{"class":138},[17,15693,15694],{},"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：",[17,15696,15697],{},"启动rviz2",[104,15699,15701],{"className":106,"code":15700,"language":108,"meta":109,"style":109},". install\u002Fsetup.bash\nrviz2\n",[111,15702,15703,15709],{"__ignoreMap":109},[114,15704,15705,15707],{"class":116,"line":117},[114,15706,2221],{"class":578},[114,15708,2224],{"class":138},[114,15710,15711],{"class":116,"line":124},[114,15712,15713],{"class":134},"rviz2\n",[17,15715,15716],{},"RVIZ2软件配置如下图所示：",[17,15718,15719,15722],{},[202,15720],{"alt":109,"src":15721},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1735.webp",[202,15723],{"alt":109,"src":15724},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1736.webp",[17,15726,15727],{},[202,15728],{"alt":109,"src":15729},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1737.webp",[29,15731,15733],{"id":15732},"ignition-gazebo仿真之传感器","Ignition Gazebo仿真之传感器",[17,15735,15736],{},"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。",[17,15738,15739],{},[52,15740,15741],{},"添加传感器插件",[17,15743,15744,15745,15748,15749,15751],{},"在进行传感器模拟之前，需要先添加一个名为",[111,15746,15747],{},"ignition-gazebo-sensors-system","的插件，打开urdf文件，在",[111,15750,13957],{},"根标签内添加如下代码：",[104,15753,15755],{"className":2376,"code":15754,"language":2378,"meta":109,"style":109},"\n\u003Cgazebo>\n \u003Cplugin\n filename=\"ignition-gazebo-sensors-system\"\n name=\"ignition::gazebo::systems::Sensors\">\n \u003Crender_engine>ogre2\u003C\u002Frender_engine>\n \u003C\u002Fplugin>\n \u003C\u002Fgazebo>\n",[111,15756,15757,15761,15769,15775,15785,15796,15810,15818],{"__ignoreMap":109},[114,15758,15759],{"class":116,"line":117},[114,15760,121],{"emptyLinePlaceholder":120},[114,15762,15763,15765,15767],{"class":116,"line":124},[114,15764,2385],{"class":148},[114,15766,13698],{"class":2388},[114,15768,2400],{"class":148},[114,15770,15771,15773],{"class":116,"line":131},[114,15772,2422],{"class":148},[114,15774,14319],{"class":2388},[114,15776,15777,15780,15782],{"class":116,"line":155},[114,15778,15779],{"class":134}," filename",[114,15781,1699],{"class":148},[114,15783,15784],{"class":138},"\"ignition-gazebo-sensors-system\"\n",[114,15786,15787,15789,15791,15794],{"class":116,"line":160},[114,15788,14267],{"class":134},[114,15790,1699],{"class":148},[114,15792,15793],{"class":138},"\"ignition::gazebo::systems::Sensors\"",[114,15795,2400],{"class":148},[114,15797,15798,15800,15803,15806,15808],{"class":116,"line":166},[114,15799,2432],{"class":148},[114,15801,15802],{"class":2388},"render_engine",[114,15804,15805],{"class":148},">ogre2\u003C\u002F",[114,15807,15802],{"class":2388},[114,15809,2400],{"class":148},[114,15811,15812,15814,15816],{"class":116,"line":178},[114,15813,2503],{"class":148},[114,15815,3026],{"class":2388},[114,15817,2400],{"class":148},[114,15819,15820,15822,15824],{"class":116,"line":183},[114,15821,2512],{"class":148},[114,15823,13698],{"class":2388},[114,15825,2400],{"class":148},[17,15827,15828],{},"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。",[17,15830,15831],{},[52,15832,15833],{},"添加各种传感器",[17,15835,15836],{},[52,15837,15838],{},"(注意，你的模型一定要有以下几个传感器的模型)",[17,15840,15841],{},"雷达的模型不需要collision，请删掉，否则会挡激光射出。",[104,15843,15845],{"className":2376,"code":15844,"language":2378,"meta":109,"style":109},"\n \u003Cgazebo reference=\"laser\">\n \u003Csensor name='gpu_lidar' type='gpu_lidar'>\n \u003Ctopic>scan\u003C\u002Ftopic>\n \u003Cupdate_rate>30\u003C\u002Fupdate_rate>\n \u003Clidar>\n \u003Cscan>\n \u003Chorizontal>\n \u003Csamples>640\u003C\u002Fsamples>\n \u003Cresolution>1\u003C\u002Fresolution>\n \u003Cmin_angle>-3.1415926\u003C\u002Fmin_angle>\n \u003Cmax_angle>3.1415926\u003C\u002Fmax_angle>\n \u003C\u002Fhorizontal>\n \u003Cvertical>\n \u003Csamples>16\u003C\u002Fsamples>\n \u003Cresolution>1\u003C\u002Fresolution>\n \u003Cmin_angle>-0.261799\u003C\u002Fmin_angle>\n \u003Cmax_angle>0.261799\u003C\u002Fmax_angle>\n \u003C\u002Fvertical>\n \u003C\u002Fscan>\n \u003Crange>\n \u003Cmin>0.08\u003C\u002Fmin>\n \u003Cmax>10.0\u003C\u002Fmax>\n \u003Cresolution>0.01\u003C\u002Fresolution>\n \u003C\u002Frange>\n \u003C\u002Flidar>\n \u003CalwaysOn>1\u003C\u002FalwaysOn>\n \u003Cvisualize>true\u003C\u002Fvisualize>\n \u003Cignition_frame_id>laser\u003C\u002Fignition_frame_id>\n \u003C\u002Fsensor>\n \u003C\u002Fgazebo>\n\n \u003Cgazebo reference=\"camera\" >\n \u003Csensor name=\"cam_link\" type=\"camera\">\n \u003Cupdate_rate>10.0\u003C\u002Fupdate_rate>\n \u003Calways_on>true\u003C\u002Falways_on>\n \u003Cignition_frame_id>camera\u003C\u002Fignition_frame_id>\n \u003Cpose>0 0 0 0 0 0\u003C\u002Fpose>\n \u003Ctopic>\u002Fimage_raw\u003C\u002Ftopic>\n \u003Ccamera name=\"my_camera\">\n \u003Chorizontal_fov>1.3962634\u003C\u002Fhorizontal_fov>\n \u003Cimage>\n \u003Cwidth>600\u003C\u002Fwidth>\n \u003Cheight>600\u003C\u002Fheight>\n \u003Cformat>R8G8B8\u003C\u002Fformat>\n \u003C\u002Fimage>\n \u003Cclip>\n 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\u003C",[114,16351,16352],{"class":2388},"width",[114,16354,16355],{"class":148},">600\u003C\u002F",[114,16357,16352],{"class":2388},[114,16359,2400],{"class":148},[114,16361,16362,16364,16367,16369,16371],{"class":116,"line":2009},[114,16363,16349],{"class":148},[114,16365,16366],{"class":2388},"height",[114,16368,16355],{"class":148},[114,16370,16366],{"class":2388},[114,16372,2400],{"class":148},[114,16374,16375,16377,16380,16383,16385],{"class":116,"line":2031},[114,16376,16349],{"class":148},[114,16378,16379],{"class":2388},"format",[114,16381,16382],{"class":148},">R8G8B8\u003C\u002F",[114,16384,16379],{"class":2388},[114,16386,2400],{"class":148},[114,16388,16389,16391,16393],{"class":116,"line":2042},[114,16390,2842],{"class":148},[114,16392,16342],{"class":2388},[114,16394,2400],{"class":148},[114,16396,16397,16399,16402],{"class":116,"line":2059},[114,16398,2606],{"class":148},[114,16400,16401],{"class":2388},"clip",[114,16403,2400],{"class":148},[114,16405,16406,16408,16411,16414,16416],{"class":116,"line":2074},[114,16407,2802],{"class":148},[114,16409,16410],{"class":2388},"near",[114,16412,16413],{"class":148},">0.02\u003C\u002F",[114,16415,16410],{"class":2388},[114,16417,2400],{"class":148},[114,16419,16420,16422,16425,16428,16430],{"class":116,"line":2080},[114,16421,2802],{"class":148},[114,16423,16424],{"class":2388},"far",[114,16426,16427],{"class":148},">300\u003C\u002F",[114,16429,16424],{"class":2388},[114,16431,2400],{"class":148},[114,16433,16434,16436,16438],{"class":116,"line":2091},[114,16435,2842],{"class":148},[114,16437,16401],{"class":2388},[114,16439,2400],{"class":148},[114,16441,16442,16444,16446],{"class":116,"line":2096},[114,16443,2666],{"class":148},[114,16445,16312],{"class":2388},[114,16447,2400],{"class":148},[114,16449,16450,16452,16454],{"class":116,"line":2101},[114,16451,2503],{"class":148},[114,16453,15873],{"class":2388},[114,16455,2400],{"class":148},[114,16457,16458,16460,16462],{"class":116,"line":2110},[114,16459,2512],{"class":148},[114,16461,13698],{"class":2388},[114,16463,2400],{"class":148},[114,16465,16466],{"class":116,"line":2116},[114,16467,121],{"emptyLinePlaceholder":120},[114,16469,16470,16472,16474,16476,16478,16480],{"class":116,"line":2136},[114,16471,2405],{"class":148},[114,16473,13698],{"class":2388},[114,16475,15859],{"class":134},[114,16477,1699],{"class":148},[114,16479,16217],{"class":138},[114,16481,2400],{"class":148},[114,16483,16484,16486,16488,16490,16492,16495,16497,16499,16501],{"class":116,"line":2149},[114,16485,2422],{"class":148},[114,16487,15873],{"class":2388},[114,16489,2392],{"class":134},[114,16491,1699],{"class":148},[114,16493,16494],{"class":138},"\"depth_camera\"",[114,16496,2962],{"class":134},[114,16498,1699],{"class":148},[114,16500,16494],{"class":138},[114,16502,2400],{"class":148},[114,16504,16505,16507,16509,16511,16513],{"class":116,"line":2155},[114,16506,2802],{"class":148},[114,16508,13855],{"class":2388},[114,16510,14063],{"class":148},[114,16512,13855],{"class":2388},[114,16514,2400],{"class":148},[114,16516,16517,16519,16521,16524,16526],{"class":116,"line":2161},[114,16518,2802],{"class":148},[114,16520,14102],{"class":2388},[114,16522,16523],{"class":148},">depth_camera\u003C\u002F",[114,16525,14102],{"class":2388},[114,16527,2400],{"class":148},[114,16529,16530,16532,16534],{"class":116,"line":3640},[114,16531,2802],{"class":148},[114,16533,16312],{"class":2388},[114,16535,2400],{"class":148},[114,16537,16538,16540,16542,16545,16547],{"class":116,"line":3653},[114,16539,3286],{"class":148},[114,16541,16328],{"class":2388},[114,16543,16544],{"class":148},">1.05\u003C\u002F",[114,16546,16328],{"class":2388},[114,16548,2400],{"class":148},[114,16550,16551,16553,16555],{"class":116,"line":3667},[114,16552,3286],{"class":148},[114,16554,16342],{"class":2388},[114,16556,2400],{"class":148},[114,16558,16559,16561,16563,16566,16568],{"class":116,"line":3680},[114,16560,3296],{"class":148},[114,16562,16352],{"class":2388},[114,16564,16565],{"class":148},">256\u003C\u002F",[114,16567,16352],{"class":2388},[114,16569,2400],{"class":148},[114,16571,16572,16574,16576,16578,16580],{"class":116,"line":3689},[114,16573,3296],{"class":148},[114,16575,16366],{"class":2388},[114,16577,16565],{"class":148},[114,16579,16366],{"class":2388},[114,16581,2400],{"class":148},[114,16583,16584,16586,16588,16591,16593],{"class":116,"line":3698},[114,16585,3296],{"class":148},[114,16587,16379],{"class":2388},[114,16589,16590],{"class":148},">R_FLOAT32\u003C\u002F",[114,16592,16379],{"class":2388},[114,16594,2400],{"class":148},[114,16596,16597,16599,16601],{"class":116,"line":3713},[114,16598,3325],{"class":148},[114,16600,16342],{"class":2388},[114,16602,2400],{"class":148},[114,16604,16605,16607,16609],{"class":116,"line":3722},[114,16606,3286],{"class":148},[114,16608,16401],{"class":2388},[114,16610,2400],{"class":148},[114,16612,16613,16615,16617,16620,16622],{"class":116,"line":3735},[114,16614,3296],{"class":148},[114,16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\u003Cgazebo>\n \u003Cplugin filename=\"libignition-gazebo-imu-system.so\"\n name=\"ignition::gazebo::systems::Imu\">\n \u003C\u002Fplugin>\n \u003C\u002Fgazebo>\n\n \u003Cgazebo reference=\"base_link\">\n \u003Csensor name=\"imu_sensor\" type=\"imu\">\n \u003Calways_on>1\u003C\u002Falways_on>\n \u003Cupdate_rate>30\u003C\u002Fupdate_rate>\n \u003Cvisualize>true\u003C\u002Fvisualize>\n \u003Ctopic>imu\u003C\u002Ftopic>\n \u003C\u002Fsensor>\n \u003C\u002Fgazebo>\n",[111,16699,16700,16704,16712,16725,16737,16745,16753,16757,16771,16793,16805,16817,16829,16842,16850],{"__ignoreMap":109},[114,16701,16702],{"class":116,"line":117},[114,16703,121],{"emptyLinePlaceholder":120},[114,16705,16706,16708,16710],{"class":116,"line":124},[114,16707,2422],{"class":148},[114,16709,13698],{"class":2388},[114,16711,2400],{"class":148},[114,16713,16714,16716,16718,16720,16722],{"class":116,"line":131},[114,16715,2606],{"class":148},[114,16717,3026],{"class":2388},[114,16719,3036],{"class":134},[114,16721,1699],{"class":148},[114,16723,16724],{"class":138},"\"libignition-gazebo-imu-system.so\"\n",[114,16726,16727,16730,16732,16735],{"class":116,"line":155},[114,16728,16729],{"class":134}," name",[114,16731,1699],{"class":148},[114,16733,16734],{"class":138},"\"ignition::gazebo::systems::Imu\"",[114,16736,2400],{"class":148},[114,16738,16739,16741,16743],{"class":116,"line":160},[114,16740,2842],{"class":148},[114,16742,3026],{"class":2388},[114,16744,2400],{"class":148},[114,16746,16747,16749,16751],{"class":116,"line":166},[114,16748,2503],{"class":148},[114,16750,13698],{"class":2388},[114,16752,2400],{"class":148},[114,16754,16755],{"class":116,"line":178},[114,16756,121],{"emptyLinePlaceholder":120},[114,16758,16759,16761,16763,16765,16767,16769],{"class":116,"line":183},[114,16760,2422],{"class":148},[114,16762,13698],{"class":2388},[114,16764,15859],{"class":134},[114,16766,1699],{"class":148},[114,16768,2415],{"class":138},[114,16770,2400],{"class":148},[114,16772,16773,16775,16777,16779,16781,16784,16786,16788,16791],{"class":116,"line":189},[114,16774,2606],{"class":148},[114,16776,15873],{"class":2388},[114,16778,2392],{"class":134},[114,16780,1699],{"class":148},[114,16782,16783],{"class":138},"\"imu_sensor\"",[114,16785,2962],{"class":134},[114,16787,1699],{"class":148},[114,16789,16790],{"class":138},"\"imu\"",[114,16792,2400],{"class":148},[114,16794,16795,16797,16799,16801,16803],{"class":116,"line":436},[114,16796,3286],{"class":148},[114,16798,16260],{"class":2388},[114,16800,2993],{"class":148},[114,16802,16260],{"class":2388},[114,16804,2400],{"class":148},[114,16806,16807,16809,16811,16813,16815],{"class":116,"line":442},[114,16808,3286],{"class":148},[114,16810,13855],{"class":2388},[114,16812,15910],{"class":148},[114,16814,13855],{"class":2388},[114,16816,2400],{"class":148},[114,16818,16819,16821,16823,16825,16827],{"class":116,"line":448},[114,16820,3286],{"class":148},[114,16822,16164],{"class":2388},[114,16824,3201],{"class":148},[114,16826,16164],{"class":2388},[114,16828,2400],{"class":148},[114,16830,16831,16833,16835,16838,16840],{"class":116,"line":454},[114,16832,3286],{"class":148},[114,16834,14102],{"class":2388},[114,16836,16837],{"class":148},">imu\u003C\u002F",[114,16839,14102],{"class":2388},[114,16841,2400],{"class":148},[114,16843,16844,16846,16848],{"class":116,"line":1676},[114,16845,2842],{"class":148},[114,16847,15873],{"class":2388},[114,16849,2400],{"class":148},[114,16851,16852,16854,16856],{"class":116,"line":1688},[114,16853,2503],{"class":148},[114,16855,13698],{"class":2388},[114,16857,2400],{"class":148},[17,16859,16860,16861,16864],{},"可以用",[111,16862,16863],{},"ign topic -e -t \u002Fimu","测试gazebo是否发布了话题，后面再用gazebo_bridge把话题给ROS2就行了。",[17,16866,16867],{},"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：",[104,16869,16873],{"className":16870,"code":16871,"language":16872,"meta":109,"style":109},"language-cpp shiki shiki-themes github-light github-dark","sudo apt install ros-${ROS_DISTRO}-imu-tools\n","cpp",[111,16874,16875],{"__ignoreMap":109},[114,16876,16877,16880,16883,16885,16887,16890,16892],{"class":116,"line":117},[114,16878,16879],{"class":148},"sudo apt install ros",[114,16881,16882],{"class":767},"-",[114,16884,149],{"class":148},[114,16886,16882],{"class":767},[114,16888,16889],{"class":148},"imu",[114,16891,16882],{"class":767},[114,16893,16894],{"class":148},"tools\n",[17,16896,16897],{},"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。",[17,16899,16900],{},[202,16901],{"alt":109,"src":16902},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1738.webp",[17,16904,15092],{},[104,16906,16908],{"className":1549,"code":16907,"language":1551,"meta":109,"style":109},"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\", \"\u002Frobot_description\"],\n output=\"screen\")\n\n # Bridge\n bridge = Node(\n package=\"ros_gz_bridge\",\n executable=\"parameter_bridge\",\n arguments=[\"\u002Fcmd_vel@geometry_msgs\u002Fmsg\u002FTwist@gz.msgs.Twist\",\n \"\u002Fmodel\u002Fmycar\u002Fodometry@nav_msgs\u002Fmsg\u002FOdometry@gz.msgs.Odometry\",\n \"\u002Fmodel\u002Fmycar\u002Ftf@tf2_msgs\u002Fmsg\u002FTFMessage[gz.msgs.Pose_V\",\n \"\u002Fclock@rosgraph_msgs\u002Fmsg\u002FClock[gz.msgs.Clock\",\n \"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state@sensor_msgs\u002Fmsg\u002FJointState[gz.msgs.Model\",\n \"\u002Fscan@sensor_msgs\u002Fmsg\u002FLaserScan@gz.msgs.LaserScan\",\n \"\u002Fscan\u002Fpoints@sensor_msgs\u002Fmsg\u002FPointCloud2@gz.msgs.PointCloudPacked\",\n \"\u002Fimage_raw@sensor_msgs\u002Fmsg\u002FImage@gz.msgs.Image\",\n \"\u002Fcamera_info@sensor_msgs\u002Fmsg\u002FCameraInfo@gz.msgs.CameraInfo\",\n \"\u002Fdepth_camera@sensor_msgs\u002Fmsg\u002FImage@gz.msgs.Image\",\n \"\u002Fimu@sensor_msgs\u002Fmsg\u002FImu[gz.msgs.IMU\",\n \"\u002Fimu\u002Fangular_velocity@geometry_msgs\u002Fmsg\u002FVector3[gz.msgs.Vector3d\"\n ],\n parameters=[{\"qos_overrides.\u002Fmodel\u002Fmycar.subscriber.reliability\": \"reliable\"}],\n remappings=[\n (\"\u002Fmodel\u002Fmycar\u002Ftf\", \"\u002Ftf\"),\n (\"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state\",\"joint_states\"),\n (\"\u002Fmodel\u002Fmycar\u002Fodometry\",\"\u002Fodom\")\n ],\n output=\"screen\"\n )\n\n return LaunchDescription([\n gz_sim,\n spawn,\n mycar_desc,\n bridge\n ])\n",[111,16909,16910,16916,16920,16930,16934,16944,16954,16964,16974,16978,16986,16990,17002,17014,17026,17042,17046,17054,17059,17072,17080,17093,17097,17101,17109,17113,17125,17129,17133,17157,17165,17176,17187,17200,17211,17222,17232,17236,17240,17248,17258,17268,17280,17287,17294,17301,17308,17315,17322,17329,17336,17343,17350,17355,17360,17376,17384,17397,17409,17421,17425,17433,17437,17441,17447,17451,17455,17459,17463],{"__ignoreMap":109},[114,16911,16912,16914],{"class":116,"line":117},[114,16913,1558],{"class":767},[114,16915,1561],{"class":148},[114,16917,16918],{"class":116,"line":124},[114,16919,121],{"emptyLinePlaceholder":120},[114,16921,16922,16924,16926,16928],{"class":116,"line":131},[114,16923,1570],{"class":767},[114,16925,1573],{"class":148},[114,16927,1558],{"class":767},[114,16929,1578],{"class":148},[114,16931,16932],{"class":116,"line":155},[114,16933,121],{"emptyLinePlaceholder":120},[114,16935,16936,16938,16940,16942],{"class":116,"line":160},[114,16937,1570],{"class":767},[114,16939,1589],{"class":148},[114,16941,1558],{"class":767},[114,16943,1594],{"class":148},[114,16945,16946,16948,16950,16952],{"class":116,"line":166},[114,16947,1570],{"class":767},[114,16949,1601],{"class":148},[114,16951,1558],{"class":767},[114,16953,1617],{"class":148},[114,16955,16956,16958,16960,16962],{"class":116,"line":178},[114,16957,1570],{"class":767},[114,16959,1636],{"class":148},[114,16961,1558],{"class":767},[114,16963,1641],{"class":148},[114,16965,16966,16968,16970,16972],{"class":116,"line":183},[114,16967,1570],{"class":767},[114,16969,1664],{"class":148},[114,16971,1558],{"class":767},[114,16973,1669],{"class":148},[114,16975,16976],{"class":116,"line":189},[114,16977,121],{"emptyLinePlaceholder":120},[114,16979,16980,16982,16984],{"class":116,"line":436},[114,16981,1679],{"class":767},[114,16983,1682],{"class":134},[114,16985,1685],{"class":148},[114,16987,16988],{"class":116,"line":442},[114,16989,121],{"emptyLinePlaceholder":120},[114,16991,16992,16994,16996,16998,17000],{"class":116,"line":448},[114,16993,1696],{"class":148},[114,16995,1699],{"class":767},[114,16997,1702],{"class":148},[114,16999,13330],{"class":138},[114,17001,1468],{"class":148},[114,17003,17004,17006,17008,17010,17012],{"class":116,"line":454},[114,17005,13337],{"class":148},[114,17007,1699],{"class":767},[114,17009,1702],{"class":148},[114,17011,13059],{"class":138},[114,17013,1468],{"class":148},[114,17015,17016,17018,17020,17022,17024],{"class":116,"line":1676},[114,17017,1713],{"class":148},[114,17019,1699],{"class":767},[114,17021,1702],{"class":148},[114,17023,13356],{"class":138},[114,17025,1468],{"class":148},[114,17027,17028,17030,17032,17034,17036,17038,17040],{"class":116,"line":1688},[114,17029,1728],{"class":148},[114,17031,1699],{"class":767},[114,17033,1733],{"class":148},[114,17035,9213],{"class":138},[114,17037,1739],{"class":148},[114,17039,9218],{"class":138},[114,17041,1468],{"class":148},[114,17043,17044],{"class":116,"line":1693},[114,17045,121],{"emptyLinePlaceholder":120},[114,17047,17048,17050,17052],{"class":116,"line":1710},[114,17049,1755],{"class":148},[114,17051,1699],{"class":767},[114,17053,1760],{"class":148},[114,17055,17056],{"class":116,"line":1725},[114,17057,17058],{"class":148}," PythonLaunchDescriptionSource(\n",[114,17060,17061,17064,17066,17068,17070],{"class":116,"line":1747},[114,17062,17063],{"class":148}," os.path.join(pkg_ros_gz_sim, ",[114,17065,13397],{"class":138},[114,17067,1778],{"class":148},[114,17069,13402],{"class":138},[114,17071,1784],{"class":148},[114,17073,17074,17076,17078],{"class":116,"line":1752},[114,17075,1791],{"class":1790},[114,17077,1699],{"class":767},[114,17079,1796],{"class":148},[114,17081,17082,17085,17087,17089,17091],{"class":116,"line":1763},[114,17083,17084],{"class":138}," 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\"-name\"",[114,17171,1778],{"class":148},[114,17173,13518],{"class":138},[114,17175,1862],{"class":148},[114,17177,17178,17181,17183,17185],{"class":116,"line":1877},[114,17179,17180],{"class":138}," \"-x\"",[114,17182,1778],{"class":148},[114,17184,15369],{"class":138},[114,17186,1862],{"class":148},[114,17188,17189,17192,17194,17196,17198],{"class":116,"line":1904},[114,17190,17191],{"class":138}," \"-z\"",[114,17193,1778],{"class":148},[114,17195,13542],{"class":138},[114,17197,1778],{"class":148},[114,17199,13547],{"class":127},[114,17201,17202,17205,17207,17209],{"class":116,"line":1920},[114,17203,17204],{"class":138}," \"-y\"",[114,17206,1778],{"class":148},[114,17208,13530],{"class":138},[114,17210,1862],{"class":148},[114,17212,17213,17216,17218,17220],{"class":116,"line":1925},[114,17214,17215],{"class":138}," \"-topic\"",[114,17217,1778],{"class":148},[114,17219,13568],{"class":138},[114,17221,13571],{"class":148},[114,17223,17224,17226,17228,17230],{"class":116,"line":1930},[114,17225,2083],{"class":1790},[114,17227,1699],{"class":767},[114,17229,13581],{"class":138},[114,17231,1468],{"class":148},[114,17233,17234],{"class":116,"line":1936},[114,17235,121],{"emptyLinePlaceholder":120},[114,17237,17238],{"class":116,"line":1946},[114,17239,1933],{"class":127},[114,17241,17242,17244,17246],{"class":116,"line":1959},[114,17243,1939],{"class":148},[114,17245,1699],{"class":767},[114,17247,1848],{"class":148},[114,17249,17250,17252,17254,17256],{"class":116,"line":1972},[114,17251,1949],{"class":1790},[114,17253,1699],{"class":767},[114,17255,15438],{"class":138},[114,17257,1862],{"class":148},[114,17259,17260,17262,17264,17266],{"class":116,"line":1987},[114,17261,1962],{"class":1790},[114,17263,1699],{"class":767},[114,17265,15449],{"class":138},[114,17267,1862],{"class":148},[114,17269,17270,17272,17274,17276,17278],{"class":116,"line":1995},[114,17271,1975],{"class":1790},[114,17273,1699],{"class":767},[114,17275,801],{"class":148},[114,17277,15462],{"class":138},[114,17279,1862],{"class":148},[114,17281,17282,17285],{"class":116,"line":2003},[114,17283,17284],{"class":138}," \"\u002Fmodel\u002Fmycar\u002Fodometry@nav_msgs\u002Fmsg\u002FOdometry@gz.msgs.Odometry\"",[114,17286,1862],{"class":148},[114,17288,17289,17292],{"class":116,"line":2009},[114,17290,17291],{"class":138}," \"\u002Fmodel\u002Fmycar\u002Ftf@tf2_msgs\u002Fmsg\u002FTFMessage[gz.msgs.Pose_V\"",[114,17293,1862],{"class":148},[114,17295,17296,17299],{"class":116,"line":2031},[114,17297,17298],{"class":138}," \"\u002Fclock@rosgraph_msgs\u002Fmsg\u002FClock[gz.msgs.Clock\"",[114,17300,1862],{"class":148},[114,17302,17303,17306],{"class":116,"line":2042},[114,17304,17305],{"class":138}," \"\u002Fworld\u002Fempty\u002Fmodel\u002Fmycar\u002Fjoint_state@sensor_msgs\u002Fmsg\u002FJointState[gz.msgs.Model\"",[114,17307,1862],{"class":148},[114,17309,17310,17313],{"class":116,"line":2059},[114,17311,17312],{"class":138}," \"\u002Fscan@sensor_msgs\u002Fmsg\u002FLaserScan@gz.msgs.LaserScan\"",[114,17314,1862],{"class":148},[114,17316,17317,17320],{"class":116,"line":2074},[114,17318,17319],{"class":138}," \"\u002Fscan\u002Fpoints@sensor_msgs\u002Fmsg\u002FPointCloud2@gz.msgs.PointCloudPacked\"",[114,17321,1862],{"class":148},[114,17323,17324,17327],{"class":116,"line":2080},[114,17325,17326],{"class":138}," \"\u002Fimage_raw@sensor_msgs\u002Fmsg\u002FImage@gz.msgs.Image\"",[114,17328,1862],{"class":148},[114,17330,17331,17334],{"class":116,"line":2091},[114,17332,17333],{"class":138}," \"\u002Fcamera_info@sensor_msgs\u002Fmsg\u002FCameraInfo@gz.msgs.CameraInfo\"",[114,17335,1862],{"class":148},[114,17337,17338,17341],{"class":116,"line":2096},[114,17339,17340],{"class":138}," \"\u002Fdepth_camera@sensor_msgs\u002Fmsg\u002FImage@gz.msgs.Image\"",[114,17342,1862],{"class":148},[114,17344,17345,17348],{"class":116,"line":2101},[114,17346,17347],{"class":138}," \"\u002Fimu@sensor_msgs\u002Fmsg\u002FImu[gz.msgs.IMU\"",[114,17349,1862],{"class":148},[114,17351,17352],{"class":116,"line":2110},[114,17353,17354],{"class":138}," \"\u002Fimu\u002Fangular_velocity@geometry_msgs\u002Fmsg\u002FVector3[gz.msgs.Vector3d\"\n",[114,17356,17357],{"class":116,"line":2116},[114,17358,17359],{"class":148}," ],\n",[114,17361,17362,17364,17366,17368,17370,17372,17374],{"class":116,"line":2136},[114,17363,2012],{"class":1790},[114,17365,1699],{"class":767},[114,17367,2017],{"class":148},[114,17369,15507],{"class":138},[114,17371,1805],{"class":148},[114,17373,15512],{"class":138},[114,17375,2028],{"class":148},[114,17377,17378,17380,17382],{"class":116,"line":2149},[114,17379,2034],{"class":1790},[114,17381,1699],{"class":767},[114,17383,2039],{"class":148},[114,17385,17386,17389,17391,17393,17395],{"class":116,"line":2155},[114,17387,17388],{"class":148}," (",[114,17390,15529],{"class":138},[114,17392,1778],{"class":148},[114,17394,15534],{"class":138},[114,17396,2056],{"class":148},[114,17398,17399,17401,17403,17405,17407],{"class":116,"line":2161},[114,17400,17388],{"class":148},[114,17402,15543],{"class":138},[114,17404,1739],{"class":148},[114,17406,15548],{"class":138},[114,17408,2056],{"class":148},[114,17410,17411,17413,17415,17417,17419],{"class":116,"line":3640},[114,17412,17388],{"class":148},[114,17414,15557],{"class":138},[114,17416,1739],{"class":148},[114,17418,15562],{"class":138},[114,17420,1468],{"class":148},[114,17422,17423],{"class":116,"line":3653},[114,17424,17359],{"class":148},[114,17426,17427,17429,17431],{"class":116,"line":3667},[114,17428,2083],{"class":1790},[114,17430,1699],{"class":767},[114,17432,15577],{"class":138},[114,17434,17435],{"class":116,"line":3680},[114,17436,1826],{"class":148},[114,17438,17439],{"class":116,"line":3689},[114,17440,121],{"emptyLinePlaceholder":120},[114,17442,17443,17445],{"class":116,"line":3698},[114,17444,2104],{"class":767},[114,17446,2107],{"class":148},[114,17448,17449],{"class":116,"line":3713},[114,17450,2113],{"class":148},[114,17452,17453],{"class":116,"line":3722},[114,17454,13602],{"class":148},[114,17456,17457],{"class":116,"line":3735},[114,17458,13607],{"class":148},[114,17460,17461],{"class":116,"line":3749},[114,17462,15608],{"class":148},[114,17464,17465],{"class":116,"line":3758},[114,17466,2164],{"class":148},[17,17468,17469],{},[52,17470,2177],{},[17,17472,2180],{},[104,17474,17475],{"className":106,"code":13620,"language":108,"meta":109,"style":109},[111,17476,17477],{"__ignoreMap":109},[114,17478,17479,17481,17483,17485,17487],{"class":116,"line":117},[114,17480,2190],{"class":134},[114,17482,2193],{"class":138},[114,17484,13631],{"class":578},[114,17486,13634],{"class":138},[114,17488,1434],{"class":138},[17,17490,17491],{},[52,17492,2208],{},[17,17494,2211],{},[104,17496,17498],{"className":106,"code":17497,"language":108,"meta":109,"style":109},". install\u002Fsetup.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",[111,17499,17500,17506,17519],{"__ignoreMap":109},[114,17501,17502,17504],{"class":116,"line":117},[114,17503,2221],{"class":578},[114,17505,2224],{"class":138},[114,17507,17508,17510,17512,17514,17516],{"class":116,"line":124},[114,17509,9408],{"class":767},[114,17511,13670],{"class":148},[114,17513,1699],{"class":767},[114,17515,15662],{"class":148},[114,17517,17518],{"class":127},"# MYCAR_MODEL值可以设置为arduino、stm32_2w 或stm32_4w\n",[114,17520,17521,17523,17525,17527],{"class":116,"line":131},[114,17522,265],{"class":134},[114,17524,268],{"class":138},[114,17526,2233],{"class":138},[114,17528,9341],{"class":138},[17,17530,15677],{},[17,17532,17533],{},"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：",[104,17535,17536],{"className":106,"code":15700,"language":108,"meta":109,"style":109},[111,17537,17538,17544],{"__ignoreMap":109},[114,17539,17540,17542],{"class":116,"line":117},[114,17541,2221],{"class":578},[114,17543,2224],{"class":138},[114,17545,17546],{"class":116,"line":124},[114,17547,15713],{"class":134},[17,17549,17550],{},[202,17551],{"alt":109,"src":17552},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1739.webp",[17,17554,17555],{},[202,17556],{"alt":109,"src":17557},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1740.webp",[17,17559,12909],{},[17,17561,17562],{},[57,17563,12914],{"href":12914,"rel":17564},[61],[17,17566,17567],{},"(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 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