ROS_GAZEBO建模移动小车-----mybot_gazebo

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一、launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>

  <arg name="world" default="empty"/> 
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <!--arg name="world_name" value="$(find mybot_gazebo)/worlds/mybot.world"/-->
    <arg name="world_name" value="$(find mybot_gazebo)/worlds/turtlebot_playground.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find mybot_description)/urdf/mybot.xacro'"/>

  <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
   args="-urdf -param robot_description -model mybot" />

</launch>

二、world

<?xml version="1.0" ?>
<sdf version="1.4">
  <!-- We use a custom world for the rrbot so that the camera angle is launched correctly -->

  <world name="default">
    <!--include>
      <uri>model://willowgarage</uri>
    </include-->

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- Global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- Focus camera on tall pendulum -->
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>

  </world>
</sdf>

常见的turtlebot小车等gazebo仿真环境

<sdf version='1.4'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0.5 0.1 -0.9</direction>
    </light>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <physics type='ode'>
      <max_step_size>0.01</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>100</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
    </physics>
    <model name='bookshelf'>
      <static>1</static>
      <link name='link'>
        <inertial>
          <mass>1</mass>
        </inertial>
        <collision name='back'>
          <pose>0 0.005 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.9 0.01 1.2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual1'>
          <pose>0 0.005 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.9 0.01 1.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='left_side'>