Gazebo机器人仿真学习探索笔记二基本使用说明.docx

Gazebo机器人仿真学习探索笔记二基本使用说明.docx

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Gazebo机器人仿真学习探索笔记二基本使用说明

Gazebo機器人仿真學習探索筆記

（二）

基本使用說明

在完成Gazebo7安裝後，需要熟悉Gazebo，方便之後使用。

actor.worldblank.worldcamera.worldcart_demo.worldcessna_demo.worldcontact.worlddepth_camera.worldelevator.worldempty_1_0.worldempty_bullet.worldempty_sky.worldempty.worldeverything.worldflocking.world

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在CODE上查看代码片派生到我的代码片~$gazebo

Gazebo7自帶了很多構建好的環境模型，可以直接使用，這些模型位置和安裝路徑相關：

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在CODE上查看代码片派生到我的代码片relaybot@relaybot-desktop:

~$ls/usr/share/gazebo-7/worlds/

pioneer2dx.world

plane_demo.world

plugin.world

polyline.world

population.world

pr2.world

presentation.world

pressure_sensor.world

projector.worldquad_rotor_demo_2.worldquad_rotor_demo.worldrandom_velocity.worldray_cpu.worldray_noise_plugin.world

force_torque_demo.worldfriction_demo.worldgripper.worldheightmap_dem.worldheightmap.worldhydra_demo.world

road_textures.world

road.world

robocup09_spl_field.world

robocup14_spl_field.world

robocup_3Dsim.world

rubble.world

initial_velocity.worldjoint_damping_demo.worldjoint_friction_demo.worldjoints.worldlift_drag_demo.worldlights.worldlinear_battery_demo.worldlogical_camera.worldmagnetometer.worldmud_bitmask.worldmud.worldmultilink_shape.worldnested_model.worldopenal.worldortho.worldosrf_elevator.worldpioneer2dx_camera.world

seesaw.world

imu_demo.world

shapes_bitmask.world

shapes_layers.worldshapes.worldsim_events.worldsimple_arm.worldsimple_gripper.worldsingle_rotor_demo.worldsonar_demo.worldsphere_atlas_demo.worldstacks.worldtimer_gui.worldtorsional_friction_demo.worldtransporter.worldtrigger.worldtwin_rotor_demo.worldunderwater.worldwillowgarage.world

wireless_sensors.world

pioneer2dx_laser_camera.worldpioneer2dx_laser.world

在ubuntu下默認的路徑爲：

/usr/share/gazebo-7/worlds/。

啓動一個示例，如下：

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在CODE上查看代码片派生到我的代码片/usr/share/gazebo-7/worlds$gazebolift_drag_demo.world

啓動一個帶有天空的環境：

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在CODE上查看代码片派生到我的代码片/usr/share/gazebo-7/worlds$gazeboempty_sky.world

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在CODE上查看代码片派生到我的代码片

xmlversion="1.0"?

>

12

--Agloballightsource-->

model:

//sun

--Agroundplane-->

model:

//ground_plane

注意這個環境中，天空中只有雲彩速度爲12，場景中還有光源和大地。

啓動一個帶有機器人模型的環境：

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在CODE上查看代码片派生到我的代码片/usr/share/gazebo-7/worlds$gazebopioneer2dx_laser_camera.world

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在CODE上查看代码片派生到我的代码片

xmlversion="1.0"?

>

--Ground-->

model:

//ground_plane

--Agloballightsource-->

model:

//sun

--Pioneer2dxmodel-->

model:

//pioneer2dx

model:

//hokuyo0.20.38000

model:

//camera0.20.3000

pioneer2dx:

:

pioneer2dx:

:

chassispioneer2dx:

:

camera:

:

link

001

0

0

pioneer2dx:

:

pioneer2dx:

:

chassispioneer2dx:

:

hokuyo:

:

link

001

0

0

參考上述模板，可以學習環境文件，主要由大地，光源，機器人模型，機器人模型包括本體，激光和攝像頭等具體配置。

除此之外，還有gzserver和gzclient。

gazebo命令实际上运行两个不同的可执行文件。

第一个称为gzserver，第二个称为gzclient。

gzserver可执行程序运行物理更新循环和传感器数据生成。

这是Gazebo的核心，可以独立

于图形界面使用。

您可能会在论坛中看到“runheadless”这个短语。

这个短语相当于只运行gzserver。

一个示例用例将涉及在不需要用户界面的云计算机上运行gzserver。

gzclient可执行文件运行基于QT的用户界面。

此应用程序提供了一个很好的可视化的模拟，并在各种模拟属性方便的控制。

當然，這兩個可以分別啓動。

gazebo使用的快捷鍵：

ActionOperationInstruction

MODE

EnterSelectionmode（defaultmode）EscpressEscformodetoselectmodelsandright-clickforcontextmenu

press"r"forRotate（model）modetpress"t"forTranslate（model）modepress"s"forScale（model）modepress"n"forSnap（model）mode

LogdataCtrl+dopendialogtorecordlogfilesMISCELLANEOUS

QuitGazeboCtrl+qpressCtrl+"q"toquitGazebo

注意這裏gazebo並不能與ROS通訊，如果需要可以使用下面命令：

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在CODE上查看代码片派生到我的代码片rosrungazebo_rosgazeborosrungazebo_rosgzserverrosrungazebo_rosgzclientrosrungazebo_rosspawn_modelrosrungazebo_rosperfrosrungazebo_rosdebug啓動後可以看到：

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在CODE上查看代码片派生到我的代码片~$rostopiclist

/clock

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/set_link_state

/gazebo/set_model_state

/rosout

/rosout_agg具體在之後筆記中再補充。

附件：

官網教程。

RunGazebo

ThesethreestepswillrunGazebowithadefaultworld.

InstallGazebo.

Openaterminal.OnmostUbuntusystemsyoucanpressCTRL+ALT+tStartGazebobyenteringthefollowingatthecommandprompt.

gazebo

RunGazebowitharobot

Let'ssimulatesomethingabitmoreinterestingbyloadingaworldwithapioneer2dx.

Openaterminalandenterthefollowingcommand.

gazeboworlds/pioneer2dx.world

Wherearetheworldslocated?

Youmayhavenoticedthemysteriousworlds/pioneer2dx.world

argumentintheabovecommand.Thisinstructsgazebotofindthepioneer2dx.worldfile,andloaditonstart.

Worldfilesarelocatedinaversionedsystemdirectory,forexample/usr/share/gazebo-7onUbuntu.IfyouhaveGazebo7.0installedonUbuntu,inaterminaltypethefollowingtoseeacompletelistofworlds.

ls/usr/share/gazebo-7/worlds

ForaGazebo7.0installationonOSXusingHomebrew,typethefollowingtoseeacompletelistofworlds.

ls/usr/local/share/gazebo-7/worlds

Clientandserverseparation

Thegazebo

commandactuallyrunstwodifferentexecutablesforyou.Thefirstiscalledgzserver,andthesecondgzclient.

Thegzserver

executablerunsthephysicsupdate-loopandsensordatageneration.ThisisthecoreofGazebo,andcanbeusedindependentlyofagraphicalinterface.Youmayseethephrase"runheadless"thrownaboutintheforums.Thisphraseequatestorunningonlythegzserver.Anexampleusecasewouldinvolverunninggzserveronacloudcomputerwhereauserinterfaceisnotneeded.

Thegzclient

executablerunsaQTbaseduserinterface.Thisapplicationprovidesanicevisualizationofsimulation,nvenientcontrolsovervarioussimulationproperties.

Tryrunningeachoftheseexecutables.Openaterminalandruntheserver:

gzserver

Openanotherterminalandrunthegraphicalclient:

gzclient

AtthispointyoushouldseetheGazebouserinterface.Yourestartthegzclientapplicationasoftenasyouwant,andevenrunmultipleinterfaces.

ThispagedescribeseachoftheitemsinvolvedinrunningaGazebosimulation.

WorldFiles

Theworlddescriptionfilecontainsalltheelementsinasimulation,includingrobots,lights,sensors,andstaticobjects.ThisfileisformattedusingSDF（SimulationDescriptionFormat）,andtypicallyhasa.worldextension.

TheGazeboserver（gzserver

）readsthisfiletogenerateandpopulateaworld.

AnumberofexampleworldsareshippedwithGazebo.Theseworldsarelocatedin/share/gazebo-/worlds

ModelFiles

AmodelfileusesthesameSDFformatasworldfiles,butshouldonlycontainasingle...

.Thepurposeofthesefilesistofacilitatemodelreuse,andsimplifyworldfiles.Onceamodelfileiscreated,itcanbeincludedinaworldfileusingthefollowingSDFsyntax:

model:

//model_file_name

Anumberofmodelsareprovidedintheonlinemodeldatabase（inpreviousversions,someexamplemodelswereshippedwithGazebo）.AssumingthatyouhaveanInternetconnectionwhenrunningGazebo,youcaninsertanymodelfromthedatabaseandthenecessarycontentwillbedownloadedatruntime.

EnvironmentVariables

Gazebousesanumberofenvironmentvariablestolocatefiles,andsetupcommunicationsbetweentheserverandclients.

StartingwithGazebo1.9.0,defaultvaluesthatworkformostcasesarecompiledin.Thismeansyoudon'tneedtosetanyvariables.

Herearethevariables:

GAZEBO_MODEL_PATH

:

colon-separatedsetofdirectorieswhereGazebowillsearchformodelsGAZEBO_RESOURCE_PATH

:

colon-separatedsetofdirectorieswhereGazebowillsearchforotherresourcessuchasworldandmediafiles.

GAZEBO_MASTER_URI

:

URIoftheGazebomaster.ThisspecifiestheIPandportwheretheserverwillbestartedandtellstheclientswheretoconnectto.

GAZEBO_PLUGIN_PATH

:

colon-separatedsetofdirectorieswhereGazebowillsearchforthepluginsharedlibrariesatruntime.

GAZEBO_MODEL_DATABASE_URI

:

URIoftheonlinemodeldatabasewhereGazebowilldownloadmodelsfrom.

Thesedefaultsarealsoincludedinashellscript:

source/share/gazebo/setup.sh

IfyouwanttomodifyGazebo'sbehavior,e.g.,byextendingthepathitsearchesformodels,youshouldfirstsourcetheshellscriptlistedabove,thenmodifythevariablesthatitsets.

GazeboServer

TheserveristheworkhorseofGazebo.Itparsesaworlddescriptionfilegivenonthecommandline,andthensimulatestheworldusingaphysicsandsensorengine.

Theservercanbestartedusingthefollowingcommand.Notethattheserverdoesnotincludeanygraphics;it'smeanttorunheadless.

gzserver

Thecanbe:

relative