下载gazebo源码
git clone https://github.com/osrf/gazebo/tree/gazebo11/examples/plugins/actor_collisions
gazebo-classic-gazebo11_11.10.2/examples/plugins/actor_collisions
mkdir build
cd build
cmake ..
make -j3
生成libActorCollisionsPlugin.so
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。
gedit actor_collisions.world
<plugin name="actor_collisions_plugin" filename="/your Path/libActorCollisionsPlugin.so">
robot@robot:~/ref/gazebo-classic-gazebo11_11.10.2/examples/plugins/act
or_collisions$ gazebo actor_collisions.world
![](https://i-blog.csdnimg.cn/blog_migrate/af5bf60e703dc0c33667f363844c7003.gif)
如果不加入libActorCollisionsPlugin.so
则没有碰撞效果
![](https://i-blog.csdnimg.cn/blog_migrate/095ca4b5d324dc1be45d3845cf9ab4bd.gif)
参考:
https://blog.csdn.net/Travis_X/article/details/115654326?spm=1001.2014.3001.5502
https://classic.gazebosim.org/tutorials?tut=actor#Scriptedtrajectories