github小项目,如有侵权,请联系删除。谢谢!!
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'>