简介
Gazebo是ROS机器人技术中常用的仿真环境,它内置了一些常用的材质,可为仿真环境中的物体提供更好的显示效果。
用法
Gazebo内置材质一般是用在<material>标签中,例如在 .world 文件中给地面设置灰色材质:
<model name='ground_plane'>
...
<link name='link'>
...
<visual name='visual'>
...
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
预设材质效果列表
材质名称 | 效果1 | 效果2 |
---|---|---|
White | ||
Grey | ||
DarkGrey | ||
FlatBlack | ||
Black | ||
RedBright | ||
Red | ||
Green | ||
Blue | ||
Yellow | ||
ZincYellow | ||
DarkYellow | ||
Purple | ||
Turquoise | ||
Orange | ||
Indigo | ||
WhiteGlow | ||
RedGlow | ||
GreenGlow | ||
BlueGlow | ||
YellowGlow | ||
PurpleGlow | ||
TurquoiseGlow | ||
TurquoiseGlowOutline | ||
RedTransparentOverlay | ||
GreenTransparentOverlay | ||
BlueTransparentOverlay | ||
OrangeTransparentOverlay | ||
DarkOrangeTransparentOverlay | ||
RedTransparent | ||
GreenTransparent | ||
BlueTransparent | ||
YellowTransparent | ||
OrangeTransparent | ||
DarkMagentaTransparent | ||
GreyTransparent | ||
BlackTransparent | ||
LightOff | ||
LightOn | ||
BlueLaser | ||
LightBlueLaser | ||
JointAnchor | ||
CoM | ||
WoodFloor | ||
CeilingTiled | ||
PaintedWall | ||
PioneerBody | ||
Pioneer2Body | ||
Gold | ||
GreyGradientSky | ||
CloudySky | ||
WoodPallet | ||
Wood | ||
Bricks | ||
Road | ||
Residential | ||
Tertiary | ||
Pedestrian | ||
Footway | ||
Motorway | ||
Lanes_6 | ||
Trunk | ||
Lanes_4 | ||
Primary | ||
Lanes_2 | ||
Secondary | ||
Lane_1 | ||
Steps | ||
san_fauxcity_sign | ||
GaussianCameraNoise | ||
CameraDistortionMap | ||
WideLensMap | ||
CameraLensFlare | ||
PointCloud | ||
PointHandle | ||
BuildingFrame | ||
Runway | ||
Grass | ||
Editor | ||
EditorPlane | ||
DepthMap | ||
XYZPoints | ||
LaserScan1st | ||
LaserScan2nd | ||