Gazebo中生成移动、随机、固定的障碍物

1 建立自己的工作站

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin_make

2 创建ros包

cd ~/catkin_ws/src

catkin_create_pkg my_gazebo_models rospy gazebo_ros

3创建自己的scripts 所有py文件放在这里

cd ~/catkin_ws/src/my_gazebo_models
mkdir scripts
cd scripts
touch spawn_model.py
chmod +x spawn_model.py

4 启动 你的py代码

注意roscore为一个terminal和后面的roslaunch、chmod、source为一个terminal、rosrun为一个terminal

roscore# 启动ros

roslaunch gazebo_ros empty_world.launch #启动一个空的世界

chmod +x ~/catkin_ws/src/my_gazebo_models/scripts/spawn_model.py 

source ~/catkin_ws/devel/setup.bash #配置源，如果你不是bash,把bash换成zsh 

rosrun my_gazebo_models spawn_model.py#启动你的py代码，解释一下my_gazebo_models这个实质是你配置的ros包名字，spawn_model.py 这个是你的py代码

5你可能遇到的问题：

1 py代码把这两行放在最前面

#!/usr/bin/env python

-*- coding: utf-8 -*-

2 遇到这样的问题：

Traceback (most recent call last):

File "/home/asic/catkin_ws/src/my_gazebo_models/scripts/spawn_model.py", line 4, in <module>

import rospy

File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module>

from std_msgs.msg import Header

File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module>

from ._Bool import *

File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module>

import genpy

File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module>

from . message import Message, SerializationError, DeserializationError, MessageException, struct_I

File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module>

import yaml

ImportError: No module named yaml

pyyaml包没有引入

pip3 install pyyaml 下载pyyaml包

python3 -m pip show pyyaml 查看是否下载完成

生成指定位置的障碍物

需要进行一些修改，如你的模型路径、名称等，这是一定要修改的

#!/usr/bin/env python3

-*- coding: utf-8 -*-

#必须添加以上两行



import sys

import os

sys.path.append('/usr/lib/python3/dist-packages')#手动添加路径



print("PYTHONPATH:", os.environ.get('PYTHONPATH'))

print("sys.path:", sys.path)



import rospy

from gazebo_msgs.srv import SpawnModel

from geometry_msgs.msg import Pose, Point, Quaternion



def load_model(model_path):

with open(model_path, 'r') as model_file:

model_xml = model_file.read()

return model_xml



def spawn_model(model_name, model_xml, pose, reference_frame="world"):

rospy.wait_for_service('/gazebo/spawn_sdf_model')

try:

spawn_model_prox = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)

spawn_model_prox(model_name, model_xml, "", pose, reference_frame)

rospy.loginfo("Model {} spawned successfully".format(model_name))

except rospy.ServiceException as e:

rospy.logerr("Service call failed: {}".format(e))



if name == "__main__":

rospy.init_node('spawn_model_node')



model_name = "cafe_table"

model_path = "/home/asic/.gazebo/models/cafe_table/model.sdf"



model_xml = load_model(model_path)

pose = Pose()

pose.position = Point(x=1, y=2, z=0) # 修改为你需要的位置

pose.orientation = Quaternion(x=0, y=0, z=0, w=1)



spawn_model(model_name, model_xml, pose)

可以定向移动的障碍物

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import sys
import os
import time
import rospy
from gazebo_msgs.srv import SpawnModel, DeleteModel, SetModelState
from gazebo_msgs.msg import ModelState
from geometry_msgs.msg import Pose, Point, Quaternion

def load_model(model_path):
    with open(model_path, 'r') as model_file:
        model_xml = model_file.read()
    return model_xml

def spawn_model(model_name, model_xml, pose, reference_frame="world"):
    rospy.wait_for_service('/gazebo/spawn_sdf_model')
    try:
        spawn_model_prox = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
        spawn_model_prox(model_name, model_xml, "", pose, reference_frame)
        rospy.loginfo("Model {} spawned successfully".format(model_name))
    except rospy.ServiceException as e:
        rospy.logerr("Service call failed: {}".format(e))

def delete_model(model_name):
    rospy.wait_for_service('/gazebo/delete_model')
    try:
        delete_model_prox = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
        delete_model_prox(model_name)
        rospy.loginfo("Model {} deleted successfully".format(model_name))
    except rospy.ServiceException as e:
        rospy.logerr("Service call failed: {}".format(e))

def set_model_state(model_name, pose):
    rospy.wait_for_service('/gazebo/set_model_state')
    try:
        set_model_state_prox = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
        model_state = ModelState()
        model_state.model_name = model_name
        model_state.pose = pose
        set_model_state_prox(model_state)
        rospy.loginfo("Model {} moved to new position".format(model_name))
    except rospy.ServiceException as e:
        rospy.logerr("Service call failed: {}".format(e))

if __name__ == "__main__":
    rospy.init_node('move_model_node')

    model_name = "cafe_table"
    model_path = "/home/asic/.gazebo/models/cafe_table/model.sdf"

    model_xml = load_model(model_path)

    # 初始位置和姿态
    start_pose = Pose()
    start_pose.position = Point(x=1, y=2, z=0)
    start_pose.orientation = Quaternion(x=0, y=0, z=0, w=1)

    end_pose = Pose()
    end_pose.position = Point(x=3, y=2, z=0)
    end_pose.orientation = Quaternion(x=0, y=0, z=0, w=1)

    # 生成模型
    spawn_model(model_name, model_xml, start_pose)

    # 在两点之间来回移动
    rate = rospy.Rate(1)  # 1 Hz
    direction = 1
    current_pose = start_pose

    while not rospy.is_shutdown():
        if direction == 1:
            current_pose.position.x += 0.1
            if current_pose.position.x >= end_pose.position.x:
                direction = -1
        else:
            current_pose.position.x -= 0.1
            if current_pose.position.x <= start_pose.position.x:
                direction = 1

        set_model_state(model_name, current_pose)
        rate.sleep()

    # 删除模型
    delete_model(model_name)

随机生成的障碍物

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import sys
import os
import time
import rospy
import random #随机
from gazebo_msgs.srv import SpawnModel, DeleteModel
from gazebo_msgs.msg import ModelState
from geometry_msgs.msg import Pose, Point, Quaternion

def load_model(model_path):
    with open(model_path, 'r') as model_file:
        model_xml = model_file.read()
    return model_xml

def spawn_model(model_name, model_xml, pose, reference_frame="world"):
    rospy.wait_for_service('/gazebo/spawn_sdf_model')
    try:
        spawn_model_prox = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
        spawn_model_prox(model_name, model_xml, "", pose, reference_frame)
        rospy.loginfo("Model {} spawned successfully".format(model_name))
    except rospy.ServiceException as e:
        rospy.logerr("Service call failed: {}".format(e))

def delete_model(model_name):
    rospy.wait_for_service('/gazebo/delete_model')
    try:
        delete_model_prox = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
        delete_model_prox(model_name)
        rospy.loginfo("Model {} deleted successfully".format(model_name))
    except rospy.ServiceException as e:
        rospy.logerr("Service call failed: {}".format(e))

if __name__ == "__main__":
    rospy.init_node('spawn_random_models_node')

    model_name_prefix = "cafe_table_"
    model_path = "/home/asic/.gazebo/models/cafe_table/model.sdf"
    model_xml = load_model(model_path)
    num_models = 10

    # 地图边界定义（
    x_min, x_max = -10, 10
    y_min, y_max = -10, 10

    # 生成随机位置并生成模型
    for i in range(num_models):
        model_name = model_name_prefix + str(i)
        pose = Pose()
        pose.position = Point(
            x=random.uniform(x_min, x_max),
            y=random.uniform(y_min, y_max),
            z=0
        )
        pose.orientation = Quaternion(x=0, y=0, z=0, w=1)

        spawn_model(model_name, model_xml, pose)

    for i in range(num_models):
        model_name = model_name_prefix + str(i)
        delete_model(model_name)