Gazebo仿真要点

1. world环境搭建

• 模型可以随便放，但是如果要加载PX4仿真，在world中一定要加下面的物理模型，不然飞机加载不进去

  <physics name='default_physics' default='0' type='ode'>
        <gravity>0 0 -9.8066</gravity>
        <ode>
          <solver>
            <type>quick</type>
            <iters>10</iters>
            <sor>1.3</sor>
            <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
          </solver>
          <constraints>
            <cfm>0</cfm>
            <erp>0.2</erp>
            <contact_max_correcting_vel>100</contact_max_correcting_vel>
            <contact_surface_layer>0.001</contact_surface_layer>
          </constraints>
        </ode>
        <max_step_size>0.004</max_step_size>
        <real_time_factor>1</real_time_factor>
        <real_time_update_rate>250</real_time_update_rate>
        <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
      </physics>
  

• 一个完整的world例子如下所示：

  <?xml version="1.0" ?>
  <sdf version="1.6">
    <world name="default">
      <scene>
        <grid>false</grid>
        <origin_visual>false</origin_visual>
        <ambient>0.592 0.624 0.635 1</ambient>
        <sky>
          <clouds>
            <speed>12</speed>
          </clouds>
        </sky>
        <background>0.35 0.35 0.35 1.0</background>
      </scene>
  
      <physics name='default_physics' default='0' type='ode'>
        <gravity>0 0 -9.8066</gravity>
        <ode>
          <solver>
            <type>quick</type>
            <iters>10</iters>
            <sor>1.3</sor>
            <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
          </solver>
          <constraints>
            <cfm>0</cfm>
            <erp>0.2</erp>
            <contact_max_correcting_vel>100</contact_max_correcting_vel>
            <contact_surface_layer>0.001</contact_surface_layer>
          </constraints>
        </ode>
        <max_step_size>0.004</max_step_size>
        <real_time_factor>1</real_time_factor>
        <real_time_update_rate>250</real_time_update_rate>
        <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
      </physics>
  
      <spherical_coordinates>
        <surface_model>EARTH_WGS84</surface_model>
        <latitude_deg>0</latitude_deg>
        <longitude_deg>0</longitude_deg>
        <elevation>0</elevation>
        <heading_deg>0</heading_deg>
      </spherical_coordinates>
  
      <!-- A global light source -->
      <light type="directional" name="sun">
        <pose>0 0 1000 0 0 0</pose>
        <cast_shadows>true</cast_shadows>
        <diffuse>0.8 0.8 0.8 1</diffuse>
        <specular>0.5 0.5 0.5 1</specular>
        <attenuation>
          <range>1000</range>
          <constant>0.9</constant>
          <linear>0.01</linear>
          <quadratic>0.001</quadratic>
        </attenuation>
        <direction>-0.5 0.1 -0.4</direction>
      </light>
  
      <model name="shaderbox">
        <pose>0 0 -5 0 0 0</pose>
        <static>true</static>
        <link name="link">
          <visual name="visual">
            <geometry>
              <box>
                <size>0.1 0.1 0.1</size>
              </box>
            </geometry>
            <material>
              <script>
                <uri>file://media/materials/scripts/citysim.material</uri>
                <name>CitySim/ShinyGrey</name>
              </script>
            </material>
            <plugin name="bloom" filename="libBloomVisualPlugin.so" />
            <plugin name="lensflare" filename="libLensFlareVisualPlugin.so" />
          </visual>
        </link>
      </model>
  
  
      <!-- Environment -->
      <include>
        <name>city_terrain_1</name>
        <pose>
        0
        0
        5.01
        0
        0
        0
        </pose>
        <uri>model://city_terrain</uri>
      </include>
  
      <include>
        <name>ocean_2</name>
        <pose>
        40
        -20
        3.0
        0
        0
        0
        </pose>
        <uri>model://ocean</uri>
      </include>
  
  
  
  
      <road name="road_y_1">
        <width>7.4</width>
        <point>-45 -103.7 5.02</point>
        <point>-45 104.2 5.02</point>
      </road>
  
  
      <road name="road_y_2">
        <width>7.4</width>
        <point>-15 -103.7 5.02</point>
        <point>-15 104.2 5.02</point>
  
  
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Residential</name>
          </script>
        </material>
      </road>
      
     </world>
  </sdf>
  
  

2. 加载带有Realsense相机的无人机

在现有的iris无人机sdf模型中，在iris.sdf文件的
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>之前，插入下面一段即可。注意其中需要对相机旋转，另外为了不让桨叶挡住视野，我特地把相机抬高并向前放置了一点。但为了好看（相机和无人机贴在一起，而不是在无人机上面悬浮着），在visual 中把太高的距离又减了回去。

<!-- add realsense camera -->
    <link name="depth_camera_link">
      <pose frame=''>0.12 0 0.1 0 0 0</pose>
      <inertial>
        <pose frame=''>0 0 0 0 0 0</pose>
        <mass>0.01</mass>
        <inertia>
          <ixx>4.15e-6</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2.407e-6</iyy>
          <iyz>0</iyz>
          <izz>2.407e-6</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <pose>-0.0 0.0 -0.1 1.57 0 1.57</pose>
        <geometry>
          <mesh>
            <uri>model://realsense_camera/meshes/D435i.dae</uri>
          </mesh>
        </geometry>

        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>

      </visual>

      <sensor name="depth_camera" type="depth">
        <update_rate>30</update_rate>
        <camera>
          <horizontal_fov>1.5708</horizontal_fov>
          <image>
            <format>R8G8B8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>88</far>
          </clip>
        </camera>
        <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_controller">
          <robotNamespace/>
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>0</updateRate>
          <pointCloudCutoff>0.4</pointCloudCutoff>
          <pointCloudCutoffMax>50</pointCloudCutoffMax>
          <imageTopicName>color/image_raw</imageTopicName>
          <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <frameName>camera_link</frameName>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
        </plugin>
      </sensor>
      <sensor name="camera_imu" type="imu">
        <always_on>1</always_on>
      </sensor>
    </link>

    <joint name='depth_camera_joint' type='fixed'>
      <child>depth_camera_link</child>
      <parent>base_link</parent>
      <pose>0.0 0 0 1.57 0 1.57</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>