ros中一些仿真工具包的使用

一、gazebo-颜色类型

翻译自维基
Gazebo Materials
This page contains a list of the materials available for Gazebo. This list may vary from what you have in your installation. You can check the currently available list of materials by doing

gedit ‘rospack find gazebo’/gazebo/share/gazebo/Media/materials/scripts/Gazebo.material

Pre-defined materials:

material Gazebo/Grey

material Gazebo/DarkGrey

material Gazebo/White

material Gazebo/FlatBlack

material Gazebo/Black

material Gazebo/Red

material Gazebo/RedBright

material Gazebo/Green

material Gazebo/Blue

material Gazebo/SkyBlue

material Gazebo/Yellow

material Gazebo/ZincYellow

material Gazebo/DarkYellow

material Gazebo/Purple

material Gazebo/Turquoise

material Gazebo/Orange

material Gazebo/Indigo

material Gazebo/WhiteGlow

material Gazebo/RedGlow

material Gazebo/GreenGlow

material Gazebo/BlueGlow

material Gazebo/YellowGlow

material Gazebo/PurpleGlow

material Gazebo/TurquoiseGlow

material Gazebo/TurquoiseGlowOutline

material Gazebo/RedTransparentOverlay

material Gazebo/BlueTransparentOverlay

material Gazebo/GreenTransparentOverlay

material Gazebo/OrangeTransparentOverlay

material Gazebo/DarkOrangeTransparentOverlay

material Gazebo/RedTransparent

material Gazebo/GreenTransparent

material Gazebo/BlueTransparent

material Gazebo/DarkMagentaTransparent

material Gazebo/GreyTransparent

material Gazebo/BlackTransparent

material Gazebo/YellowTransparent

material Gazebo/LightOn

material Gazebo/LightOff

material Gazebo/LightBlueLaser

material Gazebo/BlueLaser

material Gazebo/OrangeTransparent

material Gazebo/JointAnchor

material Gazebo/CoM

material Gazebo/WoodFloor

material Gazebo/CeilingTiled

material Gazebo/PaintedWall

material Gazebo/PioneerBody

material Gazebo/Pioneer2Body

material Gazebo/Gold

material Gazebo/GreyGradientSky

material Gazebo/CloudySky

material Gazebo/WoodPallet

material Gazebo/Wood

material Gazebo/Bricks

material Gazebo/Road

material Gazebo/Residential

material Gazebo/Tertiary

material Gazebo/Pedestrian

material Gazebo/Footway

material Gazebo/Motorway

material Gazebo/Lanes_6

material Gazebo/Trunk

material Gazebo/Lanes_4

material Gazebo/Primary

material Gazebo/Lanes_2

material Gazebo/Secondary

material Gazebo/Lane_1

material Gazebo/Steps

material drc/san_fauxcity_sign

material Gazebo/GaussianCameraNoise

material Gazebo/CameraDistortionMap

material Gazebo/WideLensMap

material Gazebo/CameraLensFlare

material Gazebo/PointCloud

material Gazebo/PointHandle

material Gazebo/BuildingFrame

material Gazebo/Runway

material Gazebo/Grass

material Gazebo/Editor

material Gazebo/EditorPlane

material Gazebo/DepthMap

material Gazebo/XYZPoints

material Gazebo/LaserScan1st

material Gazebo/LaserScan2nd

材料凉亭/灰色

凉亭/暗灰色

材料凉亭/白

材料凉亭/浅黑

材料凉亭/黑色

凉亭/红色

凉亭/ RedBright

凉亭/绿色

凉亭/蓝色

凉亭/天蓝色

凉亭/黄色

凉亭/锌黄色

凉亭/暗黄色

凉亭/紫色

材料凉亭/绿松石

材料凉亭/橙色

材料凉亭/靛蓝

凉亭/ WhiteGlow材料

凉亭/ RedGlow

凉亭/ GreenGlow材料

材料凉亭/ BlueGlow

材料凉亭/黄光

凉亭/ PurpleGlow

凉亭/ TurquoiseGlow

材料凉亭/ TurquoiseGlowOutline

材质凉亭/ RedTransparentOverlay

材质凉亭/ BlueTransparentOverlay

材质凉亭/ GreenTransparentOverlay

材质凉亭/ OrangeTransparentOverlay

材质凉亭/ DarkOrangeTransparentOverlay

材料凉亭/红色透明

材料凉亭/绿色透明

材料凉亭/蓝色透明

凉亭/深色洋红色透明

材料凉亭/灰色透明

材料凉亭/黑色透明

凉亭/黄色透明

材料凉亭/ LightOn

材料凉亭/ LightOff

材料凉亭/ LightBlueLaser

材料凉亭/蓝色激光

材料凉亭/橙色透明

材料凉亭/ JointAnchor

材料凉亭/ CoM

凉亭/ WoodFloor材质

材料凉亭/天花板

凉亭/彩绘墙

材料凉亭/ PioneerBody

材料凉亭/ Pioneer2Body

凉亭/黄金材质

材质凉亭/ GreyGradientSky

凉亭/ CloudySky

凉亭/木板台材料

凉亭/木材

凉亭/砖头材料

材料凉亭/路

材料凉亭/住宅

凉亭/第三层

材料凉亭/行人

材料凉亭/人行道

凉亭/高速公路的材料

凉亭/ Lanes_6

材料凉亭/行李箱

材质凉亭/ Lanes_4

凉亭/主要材料

凉亭/ Lanes_2

凉亭/中学

材料凉亭/车道_1

材料凉亭/台阶

材料drc / san_fauxcity_sign

材质凉亭/高斯相机噪声

材质凉亭/ CameraDistortionMap

材质凉亭/ WideLensMap

凉亭/ CameraLensFlare材料

材料凉亭/ PointCloud

材料凉亭/ PointHandle

凉亭/ BuildingFrame

凉亭/跑道

凉亭/草料

资料凉亭/编辑

材质凉亭/ EditorPlane

材质凉亭/景深图

材料凉亭/ XYZPoints

材料Gazebo / LaserScan1st

材料Gazebo / LaserScan2nd

二、OMPL使用

moveit－OMPL的介绍和使用

三、moveit!-逆向运动学相关函数

ros控制机械臂舵机参考资料

1、控制机械臂终端平移

控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy

arm.shift_pose_target(1, -0.05, end_effector_link)
arm.go()
rospy.sleep(1)

2、控制机械臂终端旋转

控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy

arm.shift_pose_target(3, -1.57, end_effector_link)
arm.go()
rospy.sleep(1)

四、ros官网教程链接

ros维基官网教程