Gazebo
Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments.
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Gazebo卸载与安装
卸载查看当前安装dpkg -l | grep gazebo显示如下:用sudo apt-get remove命令卸载掉这些即可。安装添加源sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'设置Keywget http://packag原创 2020-12-02 11:13:16 · 2036 阅读 · 0 评论 -
重置Gazebo中模型的状态
原创 2020-05-31 16:24:00 · 1998 阅读 · 1 评论 -
Gazebo环境配置/路径配置
Gazebo uses a number of environment variables to locate files, and set up communications between the server and clients. Default values that work for most cases are compiled in. This means you don'...原创 2019-05-23 08:42:47 · 3806 阅读 · 0 评论 -
Gazebo Bringup Guide:在gazebo中运行turtlebot仿真Kinet获取深度图像
准备工作sudo apt-get install ros-indigo-turtlebot-apps ros-indigo-turtlebot-rviz-launchers启动gazeboroslaunch turtlebot_gazebo turtlebot_world.launch启动键盘遥控节点roslaunch turtlebot_teleop keyboard_tel...原创 2019-01-17 20:22:10 · 1217 阅读 · 0 评论 -
Gazebo Bringup Guide:在gazebo中运行turtlebot模拟gmapping过程
准备工作安装桌面完整版ROSsudo apt-get install ros-indigo-desktop-full安装ROS-Gazebo组件sudo apt-get install ros-indigo-gazebo-ros-*安装turtlebot相关包sudo apt-get install ros-indigo-turtlebot-*正式开始启动Gaze...原创 2018-12-30 09:44:15 · 886 阅读 · 1 评论 -
Gazebo plugins in ROS
Tutorial: Using Gazebo plugins with ROShttp://gazebosim.org/tutorials?tut=ros_gzpluginsPlugin TypesGazebo supports several plugin types, and all of them can be connected to ROS, but only a few t...原创 2020-01-10 09:14:24 · 519 阅读 · 0 评论 -
Gazebo仿真遇到的一些奇怪的问题
在调试过程中发现以下奇怪的错误,在ROS社区里也没有找到行之有效的解决方法:MSG to TF: Quaternion Not Properly Normalized Could not get robot pose, cancelling pose reconfiguration Gazebo ROS Kobuki plugin: NaN in d1. Step time: 0.001,...原创 2019-03-08 11:03:26 · 10171 阅读 · 4 评论 -
机器人建模
为了制作我们的模拟器,首先我们得了解下什么是URDF。什么是URDF? Unified Robot Description Format 统一机器人描述格式。其实就是为了能够抽象描述一个机器人的硬件。而且URDF是基于XML的,所以阅读起来应该非常容易。Xacro(XML Macros)Xacro是一种XML宏语言。 使用xacro,您可以通过使用宏命令构建更精悍短小但又具有更高可读性的XML文...原创 2019-03-02 14:48:43 · 1892 阅读 · 0 评论