gazebo安装_【ROS 学习笔记】Gazebo

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#gazebo安装

本文详细介绍了如何在ROS中使用Gazebo进行仿真，包括gazebo_ros_pkgs元功能包的作用，gazebo_ros的用法，如打开世界模型和生成URDF机器人，以及gazebo_plugins中的各种插件类型和添加方法。此外，还提及了gazebo与ros_control的结合。

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0. 简介

官网镇楼：

Gazebogazebosim.org

Gazebo 同我们常用的 vrep, adams 一样，都是内置物理引擎（Physics Engine）的动力学仿真软件，只不过 ROS 直接集成了 Gazebo，像其他开源软件（OpenCV，OMPL）一样。

By the way，vrep 也是提供了 ros 接口的，不过我一般用内置的 lua 脚本、外部的 python、甚至 matlab 来实现 vrep 仿真。

先看下 gazebo 官方教程有哪些版块，如下：

Gazebo tutorial: overview

再看下与 ROS 相关的版块有哪些，如下：

Gazebo_ros: overview

1. gazebo_ros_pkgs 元功能包

Gazebo 通过 gazebo_ros_pkgs元功能包与 ROS 建立连接。

https://github.com/ros-simulation/gazebo_ros_pkgs

gazebo_ros_pkgs is a set of ROS packages that provide the necessary interfaces to simulate a robot in the Gazebo 3D rigid body simulator for robots. It integrates with ROS using ROS messages, services and dynamic reconfigure.
From https://wiki.ros.org/gazebo_ros_pkgs

gazebo_ros_pkgs 元功能包默认安装路径 opt/ros/kinetic/share，里面只有一个 package.xml 文件，看下里面的内容：

<?xml version="1.0"?>
<package format="2">
  <name>gazebo_ros_pkgs</name> <!-- This is a meta package! -->
  <version>2.5.19</version>
  <description>Interface for using ROS with the <a href="http://gazebosim.org/">Gazebo</a> simulator.</description>

  <maintainer email="jrivero@osrfoundation.org">Jose Luis Rivero</maintainer>

  <license>BSD,LGPL,Apache 2.0</license>

  <url type="website">http://gazebosim.org/tutorials?cat=connect_ros</url>
  <url type="bugtracker">https://github.com/ros-simulation/gazebo_ros_pkgs/issues</url>
  <url type="repository">https://github.com/ros-simulation/gazebo_ros_pkgs</url>

  <author>John Hsu, Nate Koenig, Dave Coleman</author>

  <buildtool_depend>catkin</buildtool_depend>

  <exec_depend>gazebo_dev</exec_depend>
  <exec_depend>gazebo_msgs</exec_depend>
  <exec_depend>gazebo_plugins</exec_depend>
  <exec_depend>gazebo_ros</exec_depend>

  <export>
    <metapackage/>
  </export>
</package>

gazebo_ros_pkgs 元功能包包含了gazebo_ros, gazebo_plugins, gazebo_msgs 子功能包，如下图所示：

gazebo_ros_pkgs interface

gazebo_ros: provides ROS plugins that offer message and service publishers for interfacing with Gazebo through ROS.
gazebo_plugins: robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.
gazebo_msgs: message and service data structures for interacting with Gazebo from ROS.

2. gazebo_ros

Usage：

rosrun gazebo_ros debug
rosrun gazebo_ros gazebo    # launch both the Gazebo server and GUI.
rosrun gazebo_ros gbdrun
rosrun gazebo_ros server
rosrun gazebo_ros client    # launch the Gazebo GUI
rosrun gazebo_ros spawn_model
rosrun gazebo_ros perf

（1）Using roslaunch to Open World Models

pkg="gazebo_ros"
启动 empty Gazebo world

roslaunch gazebo_ros empty_world.launch

参数（Arguments）:

paused: start Gazebo in a paused state (default false)
use_sim_time: tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock (default true)
gui: Launch the user interface window of Gazebo (default true)
recording: enable gazebo state log recording
debug: start gzserver (Gazebo Server) in debug mode using gdb (default false)
verbose: run gzserver and gzclient with --verbose, printing errors and warnings to the terminal (default false)

其他的 Demo Worlds:

roslaunch gazebo_ros willowgarage_world.launch
roslaunch gazebo_ros mud_world.launch
roslaunch gazebo_ros shapes_world.launch
roslaunch gazebo_ros rubble_world.launch

其中，mud_world.launch文件内容如下：

<launch>
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="worlds/mud.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>
</launch>

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(YOURROBOT_gazebo_plugins)

find_package(catkin REQUIRED COMPONENTS
  gazebo_ros
)

# Depend on system install of Gazebo
find_package(gazebo REQUIRED)

include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS})

# Build whatever you need here
add_library(...) # TODO

catkin_package(
    DEPENDS
      gazebo_ros
    CATKIN_DEPENDS
    INCLUDE_DIRS
    LIBRARIES
)

package.xml

<build_depend>gazebo_ros</build_depend>
<exec_depend>gazebo_ros</exec_depend>

（2）Using roslaunch to Spawn URDF Robots

"ROS Service Call" Robot Spawn Method
This method uses a small python script calledspawn_modelto make a service call request to thegazebo_rosROS node (named simply "gazebo" in the rostopic namespace) to add a custom URDF into Gazebo.

rosrun gazebo_ros spawn_model -file `rospack find MYROBOT_description`/urdf/MYROBOT.urdf -urdf -x 0 -y 0 -z 1 -model MYROBOT

# -file 指定 model xml 文件的路径
# -urdf 显示地指定 xml 文件是 urdf 文件
# -x -y -z 初始 pose

spawn_model

3. gazebo_plugins

（1）Plugins 类型

ModelPlugins: provide access to the physics::Model API
SensorPlugins: provide access to the sensors::Sensor API
VisualPlugins: provide access to the rendering::Visual API

（2）添加 ModelPlugins

ModelPluginis inserted in the URDF inside the<robot>element. It is wrapped with the<gazebo>pill, to indicate information passed to Gazebo.

例如：

<robot>
  ... robot description ...
  <gazebo>
    <plugin name="differential_drive_controller" filename="libdiffdrive_plugin.so">
      ... plugin parameters ...
    </plugin>
  </gazebo>
  ... robot description ...
</robot>

（3）添加 SensorPlugins

Sensors in Gazebo are meant to be attached to links, so the <gazebo> element describing that sensor must be given a reference to that link.

例如：

<robot>
  ... robot description ...
  <link name="sensor_link">
    ... link description ...
  </link>

  <gazebo reference="sensor_link">
    <sensor type="camera" name="camera1">
      ... sensor parameters ...
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        ... plugin parameters ..
      </plugin>
    </sensor>
  </gazebo>

</robot>