[gazebo仿真]创建actor动画

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下载碰撞插件

按照github的readme.md进行编译，找到libActorCollisionsPlugin.so所在位置（重要！），这是给行人添加碰撞属性的插件。

git clone https://github.com/osrf/gazebo/tree/gazebo11/examples/plugins/actor_collisions

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在.world文件添加actor模型

    <!--create moving objects -->
      <actor name="actor0">
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 1.5 0.5</size>
            </box>
          </geometry>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <plugin name="actor_collisions_plugin" filename="/your Path/libActorCollisionsPlugin.so">
        <scaling collision="LHipJoint_LeftUpLeg_collision" scale="0.01 0.001 0.001"/>
        <scaling collision="LeftUpLeg_LeftLeg_collision" scale="8.0 8.0 1.0"/>
        <scaling collision="LeftLeg_LeftFoot_collision" scale="8.0 8.0 1.0"/>
        <scaling collision="LeftFoot_LeftToeBase_collision" scale="4.0 4.0 1.5"/>
        <scaling collision="RHipJoint_RightUpLeg_collision" scale="0.01 0.001 0.001"/>
        <scaling collision="RightUpLeg_RightLeg_collision" scale="8.0 8.0 1.0"/>
        <scaling collision="RightLeg_RightFoot_collision" scale="8.0 8.0 1.0"/>
        <scaling collision="RightFoot_RightToeBase_collision" scale="4.0 4.0 1.5"/>
        <scaling collision="LowerBack_Spine_collision" scale="12.0 20.0 5.0" pose="0.05 0 0 0 -0.2 0"/>
        <scaling collision="Spine_Spine1_collision" scale="0.01 0.001 0.001"/>
        <scaling collision="Neck_Neck1_collision" scale="0.01 0.001 0.001"/>
        <scaling collision="Neck1_Head_collision" scale="5.0 5.0 3.0"/>
        <scaling collision="LeftShoulder_LeftArm_collision" scale="0.01 0.001 0.001"/>
        <scaling collision="LeftArm_LeftForeArm_collision" scale="5.0 5.0 1.0"/>
        <scaling collision="LeftForeArm_LeftHand_collision" scale="5.0 5.0 1.0"/>
        <scaling collision="LeftFingerBase_LeftHandIndex1_collision" scale="4.0 4.0 3.0"/>
        <scaling collision="RightShoulder_RightArm_collision" scale="0.01 0.001 0.001"/>
        <scaling collision="RightArm_RightForeArm_collision" scale="5.0 5.0 1.0"/>
        <scaling collision="RightForeArm_RightHand_collision" scale="5.0 5.0 1.0"/>
        <scaling collision="RightFingerBase_RightHandIndex1_collision" scale="4.0 4.0 3.0"/>
      </plugin>
      <skin>
        <filename>walk.dae</filename>
        <scale>1.0</scale>
      </skin>
      <animation name="walking">
        <filename>walk.dae</filename>
        <interpolate_x>true</interpolate_x>
      </animation>
        <static>true</static>
        <pose>24 -0.0 0.1 0 0 2.84</pose>
        <script>
          <loop>true</loop>
          <delay_start>0.0</delay_start>
          <auto_start>true</auto_start>
          <trajectory id="0" type="walking">
             <waypoint>
                <time>0.0</time>
                <pose>24 -0.0 0.1 0 0 2.84</pose>
             </waypoint>
             <waypoint>
                <time>30.0</time>
                <pose>0 -0.0 0.1 0 0 2.84</pose>
             </waypoint>
             <waypoint>
                <time>40</time>
                <pose>0 -0.0 0.1 0 0 0.3</pose>
             </waypoint>
             <waypoint>
                <time>70</time>
                <pose>24 -0.0 0.1 0 0 0.3</pose>
             </waypoint>
             <waypoint>
                <time>80.0</time>
                <pose>24 -0.0 0.1 0 0 2.84</pose>
             </waypoint>
          </trajectory>
        </script>
      </actor>

actor的一些动作模型

• moonwalk.dae
• run.dae
• sit_down.dae
• sitting.dae
• stand_up.dae
• stand.dae
• talk_a.dae
• talk_b.dae
• walk.dae

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项目演示

[gazebo仿真]创建actor动画

参考

【1】官方文档http://gazebosim.org/tutorials?tut=actor#Scriptedtrajectories