Gazebo基础

What are *.urdf.xacro and *.gazebo.xacro files?
Typically, files with .xacro suffix are files that should be processed by xacro before being passed on to other programs.
*.urdf.xacro → *.urdf
*.gazebo.xacro → *.gazebo
How to spawn urdf.xacro-file into Gazebo
Tutorial: Using a URDF in Gazebo

GAZEBO学习笔记(3)
设置轮子的摩擦系数、刚性等物理属性：

  <gazebo reference="rear_right_wheel_link">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>
  </gazebo>  

xacro转换为urdf
方法一：
rosrun xacro xacro.py xxx.urdf.xacro > xxx.urdf
方法二：直接调用xacro文件解析器（在launch文件中进行）

<param name="robot_description" command="$(find xacro)/xacro --inorder $(find XXX_description)/urdf/XXX.urdf.xacro" />

gzserver和gzclient
$ gazebo
实际上运行了两个可执行文件：gzserver，gzclient。gzserver用于实时计算物理仿真结果和更新传感器数据，是Gazebo的核心，并且可以脱离图形界面独立运行。gzclient提供基于QT的模拟器界面和参数配置界面。