【ros2】 使用gazebo仿真，使用gazebo_ros_state插件重置机器人位置

ros2 使用gazebo仿真，使用gazebo_ros_state插件重置机器人位置

使用方法

1. 创建world文件
   使用gazebo创建环境，并保存为.world文件
2. 修改呢个.world文件， 在<world name=‘default’>标签后添加以下代码

  <world name='default'>
    <plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
      <ros>
        <namespace>/demo</namespace>
        <remapping>model_states:=model_states_demo</remapping>
        <remapping>link_states:=link_states_demo</remapping>
      </ros>

      <update_rate>1.0</update_rate>
    </plugin>

3. 检查是否成功
   gzserver world文件路径 --verbose
   若显示

➜  world git:(humble) ✗ gzserver empty.world  --verbose
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.63.148.239
[Msg] Loading world file [/home/xianzhou/ros2_omni_gazebo/src/axebot/axebot_description/world/empty.world]
[INFO] [1714533011.064067638] [gazebo_ros_node]: ROS was initialized without arguments.
[INFO] [1714533011.190777834] [demo.gazebo_ros_state]: Publishing states of gazebo models at [/demo/model_states_demo]
[INFO] [1714533011.191198557] [demo.gazebo_ros_state]: Publishing states of gazebo links at [/demo/link_states_demo]

此时查询节点
ros2 node info /demo/gazebo_ros_state

➜  world git:(humble) ✗ ros2 node info /demo/gazebo_ros_state

/demo/gazebo_ros_state
 Subscribers:
   /clock: rosgraph_msgs/msg/Clock
   /parameter_events: rcl_interfaces/msg/ParameterEvent
 Publishers:
   /demo/link_states_demo: gazebo_msgs/msg/LinkStates
   /demo/model_states_demo: gazebo_msgs/msg/ModelStates
   /parameter_events: rcl_interfaces/msg/ParameterEvent
   /rosout: rcl_interfaces/msg/Log
 Service Servers:
   /demo/gazebo_ros_state/describe_parameters: rcl_interfaces/srv/DescribeParameters
   /demo/gazebo_ros_state/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
   /demo/gazebo_ros_state/get_parameters: rcl_interfaces/srv/GetParameters
   /demo/gazebo_ros_state/list_parameters: rcl_interfaces/srv/ListParameters
   /demo/gazebo_ros_state/set_parameters: rcl_interfaces/srv/SetParameters
   /demo/gazebo_ros_state/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
   /demo/get_entity_state: gazebo_msgs/srv/GetEntityState
   /demo/set_entity_state: gazebo_msgs/srv/SetEntityState
 Service Clients:

 Action Servers:

 Action Clients:

然后就可以通过/demo/get_entity_state获取状态和/demo/set_entity_state设置状态啦

如果什么错误也不报或者有其他奇怪问题

1. 在你用的环境里随便打开个终端进入python
   python
2. 试试这个

import ctypes
so = ctypes.cdll.LoadLibrary   
lib = so("/opt/ros/humble/lib/libgazebo_ros_state.so")  

可能遇到的问题

出现version 'GLIBCXX_3.4.29' not found

1. 查询当前运行环境有的版本
   若为系统环境则
   strings /usr/lib/x86_64-linux-gnu/libstdc++.so.6 | grep GLIBCXX
   若为anaconda环境则
   strings /home/你的用户名/anaconda3/envs/你的环境名/lib/libstdc++.so.6 | grep GLIBCXX
2. (anaconda)没有相应版本，尝试以下代码
   conda install -c anaconda libstdcxx-ng
conda install libgcc
3. (系统环境)没有相应版本,看这个。如果anaconda在第二步后仍不行也可用这个办法。
4. 再次从第一步检查是否有相应版本
5. 我出现了两次，GLIBCXX_3.4.30也没有，按照一样的步骤再来一次就行了