【仿真搭建】gazebo搭建动态障碍物环境/2021-10-23

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Gazebo:使用移动行人搭建动态仿真环境

<?xml version="1.0" ?>
<sdf version="1.6">
   <world name="default">
      <!-- A ground plane -->
      <include>
         <uri>model://ground_plane</uri>
      </include>
      <!-- A global light source -->
      <include>
         <uri>model://sun</uri>
      </include>
      <!-- An actor -->
      <actor name="animated_box">
        <link name="link">
          <visual name="visual">
            <geometry>
              <box>
                <size>.2 .2 .2</size>
              </box>
            </geometry>
          </visual>
        </link>
        <script>
          <loop>true</loop>
          <delay_start>0.000000</delay_start>
          <auto_start>true</auto_start>
          <trajectory id="0" type="square">
             <waypoint>
                <time>0.0</time>
                <pose>-1 -1 1 0 0 0</pose>
             </waypoint>
             <waypoint>
                <time>1.0</time>
                <pose>-1 1 1 0 0 0</pose>
             </waypoint>
             <waypoint>
                <time>2.0</time>
                <pose>1 1 1 0 0 0</pose>
             </waypoint>
             <waypoint>
                <time>3.0</time>
                <pose>1 -1 1 0 0 0</pose>
             </waypoint>
             <waypoint>
                <time>4.0</time>
                <pose>-1 -1 1 0 0 0</pose>
             </waypoint>
          </trajectory>
        </script>
      </actor>
   </world>
</sdf>