为啥使用sdf:
urdf、xacro和sdf区别
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1 创建一个自定义模型文件和配置
mkdir -p ~/.gazebo/models/my_robot
gedit ~/.gazebo/models/my_robot/model.config
添加以下内容到model.config
<?xml version="1.0"?>
<model>
<name>My Robot</name>
<version>1.0</version>
<sdf version='1.4'>model.sdf</sdf>
<author>
<name>My Name</name>
<email>me@my.email</email>
</author>
<description>
My awesome robot.
</description>
</model>
mkdir -p ~/.gazebo/models/my_robot
gedit ~/.gazebo/models/my_robot/model.sdf
在model.sdf添加如下文件
<?xml version='1.0'?>
<sdf version='1.4'>
<model name="my_robot">
<static>true</static>
<link name='chassis'>
<pose>0 0 .1 0 0 0</pose>
<collision name='collision'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</visual>
</link>
</model>
</sdf>
启动gazebo
gazebo
在insert 中找到
新建 1.world 文件
touch 1.world
chmod 777 1.world
复制如下代码到1.world
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="my_world">
<!-- 环境光 -->
<include>
<uri>model://sun</uri>
</include>
<!-- 地面 -->
<include>
<uri>model://ground_plane</uri>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</include>
<!--模型 -->
<model name='model_name'>
<include>
<uri>model://my_robot</uri>
</include>
</model>
</world>
</sdf>
运行
gazebo 1.world
会在gazebo中显示一个白色方块
**