本人初学ros，大多代码都是用的书里的源码，有一天觉得自己应该做点什么。觉得巡线比较简单，所以就准备做巡线。开始之前呢，给自己的小项目做了一个计划，大概是这样：
1.地图
于是第一天就兴致勃勃地画地图，网上很难搜到小车巡线的资料，好不容易找到个视频，里面的地图是用blender绘制的，但是很不幸，我用blender画的地图导不进去gazebo（对，我不会）。于是我开始在gazebo中摸索，在model editor中绘制了我需要的地图。然后将model插入到world里导出world就可以用了。当然，用model editor搞出来的模型可能有些奇奇怪怪的地方，这个直接在.world文件里修改就好了（个人觉得.world文件还是很友好的）
附上.world文件
<sdf version='1.6'>
<world name='default'>
<include>
<uri>model://ground_plane</uri>
</include>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<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>
<state world_name='default'>
<sim_time>266 301000000</sim_time>
<real_time>271 89349249</real_time>
<wall_time>1582180226 929129756</wall_time>
<iterations>266301</iterations>
<model name='map_demo'>
<pose frame=''>5.79532 -2.34721 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_5'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_6'>
<pose frame=''>0 0 1e-05 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_6_clone'>
<pose frame=''>-1.05205 3.16537 1e-05 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<model name='map_demo'>
<link name='link_5'>
<pose frame=''>0 0 0 0 -0 0</pose>
<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>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>10 10 1e-05</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
<shader type='normal_map_tangent_space'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>10 10 1e-05</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='link_6'>
<pose frame=''>0 0 1e-05 0 -0 0</pose>
<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>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>5 0.2 1e-05</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>1 1 1 1</specular>
<emissive>1 1 1 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>5 0.2 0</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='link_6_clone'>
<pose frame=''>-6.84737 5.51258 0.01 0 -0 0</pose>
<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>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>5 0.2 1e-05</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>1 1 1 1</specular>
<emissive>1 1 1 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>5 0.2 0</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>true</static>
<allow_auto_disable>1</allow_auto_disable>
<pose frame=''>5.79532 -2.34721 0 0 -0 0</pose>
</model>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>15.1379 -10.4797 9.55212 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
好长对吧，其实我也不是很懂.world文件的具体内容，只是把导出的.world文件改了改。
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