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Tutorial: Using Gazebo plugins with ROS

2015-10-04 00:20 1616 查看

Tutorial:UsingGazebopluginswithROS

参考：http://gazebosim.org/tutorials?tut=ros_gzplugins

GazebopluginsgiveyourURDFmodelsgreaterfunctionalityandcantieinROSmessagesandservicecallsforsensoroutputandmotorinput.Inthistutorialweexplainbothhowtosetuppreexistingpluginsandhowtocreateyourowncustompluginsthatcan
workwithROS.

插件的作用就是使得可以利用仿真环境下的传感器输出消息，同时传递电机等一些输入消息。。相当于我可以获知仿真下激光与视觉才仿真环境下的感知，我也可以发送指令控制仿真环境下的机器人移动。在本教程中，我们将解释如何安装预先存在的插件和如何创建自己的自定义插件。

首先要建立传感器的urdf文件，再加入gazebo的文件描述好相应的传感器参数消息，同时加入插件。（理解好插件，相当于干驱动层之上的消息发布与接收。插件就是为了建立驱动层与消息层的连接).

Prerequisites

MakesureyouhavetheRRBotsetupasdescribedinthe
previoustutorialonURDFs.

AddingPlugins

PluginscanbeaddedtoanyofthemainelementsofaURDF-a

<robot>

<link>

,or

<joint>

dependingonwhatthescopeandpurposeofthepluginis.ToaccomplishaddingaplugintoaparticularelementinyourURDF,youmustwrapyour

<plugin>

tagwithina

<gazebo>

element.

插件依据使用的目的可以添加在

<robot>

<link>

,or

<joint>

标签下，

<plugin>

都在

<gazebo>标签下。

Addingaplugintothe

<robot>

element

Thefollowingisanexampleofapluginfora

<robot>

elementinaURDF: 无

reference（参考系） 表示整个robot

<gazebo>
<pluginname="differential_drive_controller"filename="libdiffdrive_plugin.so">
...pluginparameters...
</plugin>
</gazebo>

Intheaboveexamplethepluginwasaddedtothe

<robot>

elementbecause,similartoother

<gazebo>

elementsandproperties,ifno

reference="x"

isspecifieditisassumesthereferenceistheentire
<robot>
.In
SDFterminology,itassumesthereferenceisthe

<model>

.

SDFNote:

Delvingalittledeeperintheconversionprocess,yourURDFisconvertedtoaSDFbeforebeingparsedbyGazebo.Anyelementsinsidethe

<gazebo>

tagswhicharenotintheelementtabledescribedintheprevious
tutorialonURDFsaredirectlyinsertedintothe

<model>

tagofthegeneratedSDF.Asanexample,thisfeaturecanbeusedtointroducemodelspecificplugins.ThefollowingistheconvertedSDFfromtheaboveURDFexample:

gazebo解析urdf-->sdf任何<gazebo>标签里的不在urdf元素表里的元素直接插入《model》标签内生成sdf文件。

<modelname="your_robot_model">
<pluginname="differential_drive_controller"filename="libdiffdrive_plugin.so">
...pluginparameters...
</plugin>
</model>

RefertotheSDFdocumentationformoreinformationonhowthisfeaturecanbeused.

Addingaplugintothe

<link>

element

Similarto

<plugin>

elementsfor

<robot>

,youcanadda

<plugin>

elementtoalinkbypassinga

reference="your_link_name"

value.

<gazeboreference="your_link_name">
<pluginname="your_link_laser_controller"filename="libgazebo_ros_laser.so">
...pluginparameters...
</plugin>
</gazebo>

Addingaplugintothe

<joint>

element

Thisisaccomplishedinthesamewayasa

<link>

exceptthereferencenameisajointname.

Pluginsavailableingazebo_plugins 预先安装的可用插件

Thefollowingsectionsdocumentallofthepluginsavailableinthe
gazebo_plugins
.Wesuggestyoureviewtheminorderbecausemoredetailiscoveredinthefirstcoupleofpluginsandyoucanlearnsomeoftheconceptsfromthevariousplugins'documentation.

Thenamesofeachsectionisderivedfromthepluginclassname.Forexample,"BlockLaser"isfromthe

GazeboRosBlockLaser

classandcanbefoundinthefile

gazebo_plugins/src/gazebo_ros_block_laser.cpp

.

Iftherearesomesectionsblank,itmeansthatthisauthorgottiredofdocumentingeverypluginandyoushouldfillintheareawithyourexperienceshouldyouhaveknowledgeandexamplesofhowtousetheparticularplugin.

Camera

Description:providesROSinterfaceforsimulatingcamerassuchaswge100camerabypublishingthe
CameraInfoandImageROSmessagesasdescribedinsensormsgs.

RRBotExample

Inthissection,wewillreviewasimpleRGBcameraattachedtotheendoftheRRBotpendulumarm.Youcanlookinside

rrbot.xacro

tofollowtheexplanation.Thefirstelementsofthisblockareanextralinkandjointadded
totheURDFfilethatrepresentsthecamera.Wearejustusingasimpleredboxtorepresentthecamera,thoughtypicallyyoucoulduseameshfileforabetterrepresentation.

创建urdf文件表示一个红色盒子代表相机。

<jointname="camera_joint"type="fixed">
<axisxyz="010"/>
<originxyz="${camera_link}0${height3-axel_offset*2}"rpy="000"/>
<parentlink="link3"/>
<childlink="camera_link"/>
</joint>

<!--Camera-->
<linkname="camera_link">
<collision>
<originxyz="000"rpy="000"/>
<geometry>
<boxsize="${camera_link}${camera_link}${camera_link}"/>
</geometry>
</collision>

<visual>
<originxyz="000"rpy="000"/>
<geometry>
<boxsize="${camera_link}${camera_link}${camera_link}"/>
</geometry>
<materialname="red"/>
</visual>

<inertial>
<massvalue="1e-5"/>
<originxyz="000"rpy="000"/>
<inertiaixx="1e-6"ixy="0"ixz="0"iyy="1e-6"iyz="0"izz="1e-6"/>
</inertial>
</link>

AXacropropertyisalsodefined:

<xacro:propertyname="camera_link"value="0.05"/><!--Sizeofsquare'camera'box-->

YoushouldbeabletolaunchtheRRBotandseearedboxattachedtotheendofthearm.

NextwewillreviewtheGazebopluginthatgivesusthecamerafunctionalityandpublishestheimagetoaROSmessage.IntheRRBotwehavebeenfollowingtheconventionofputtingGazeboelementsinthe

rrbot.gazebo

file:

在gazebo文件中添加插件相机的特征参数。参考系，传感器类型，更新速率，相机名称，水平镜头视角成像参数（尺寸格式），最近与最远有效视场，噪声。

相机控制插件（参数对应可调）libgazebo_ros_camera.so

<!--camera-->
<gazeboreference="camera_link">
<sensortype="camera"name="camera1">
<update_rate>30.0</update_rate>
<cameraname="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!--Noiseissampledindependentlyperpixeloneachframe.
Thatpixel'snoisevalueisaddedtoeachofitscolor
channels,whichatthatpointlieintherange[0,1].-->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<pluginname="camera_controller"filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>rrbot/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>

Let'sdiscusssomeofthepropertiesofthisplugin...

<gazeboreference="camera_link">

Thelinkname"camera_link"mustmatchthenameofthelinkweaddedtotheXacroURDF. 需要与robot模型link名称对应

<sensortype="camera"name="camera1">

Thesensorname"camera1"mustbeuniquefromallothersensornames.ThenameisnotusedmanyplacesexceptforwithinGazebopluginsyoucanaccess 名字唯一

<update_rate>30.0</update_rate>

NumberoftimespersecondanewcameraimageistakenwithinGazebo.Thisisthemaximumupdateratethesensorwillattemptduringsimulationbutitcouldfallbehindthistargetrateifthephysicssimulationrunsfasterthanthesensorgenerationcan
keepup.

<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>

Fillinthesevaluestomatchthemanufacturer'sspecsonyourphysicalcamerahardware.Onethingtonoteisthatthepixelsareassumedtobesquare. 硬件相机参数，像素假定方块

Additionally,thenearandfarclipsaresimulation-specificparametersthatgiveanupperandlowerboundtothedistanceinwhichthecamerascanseeobjectsinthesimulation.Thisisspecifiedinthecamera'soptometryframe.

<pluginname="camera_controller"filename="libgazebo_ros_camera.so">

Thisiswheretheactual

gazebo_ros/gazebo_ros_camera.cpp

fileislinkedto,asasharedobject.

<cameraName>rrbot/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>

Herewedefinetherostopicthecamerawillbepublishingto,forboththeimagetopicandthecamerainfotopic.ForRRBot,youshouldsubscribeto:定义要发布的相机消息，

/rrbot/camera1/image_raw
/rrbot/camera1/camera_info

<frameName>camera_link</frameName>

Thecoordinateframetheimageispublishedunderinthetftree. image在TF树中的情况

RunningtheRRBotExample

Afteryouhavesavedboth

rrbot.xacro

and

rrbot.gazebo

,youshouldbeabletolaunchbothRvizandGazeboinseparateterminals:

roslaunchrrbot_gazeborrbot_world.launch
roslaunchrrbot_descriptionrrbot_rviz.launch

InRviz,adda''Camera''displayandunder''ImageTopic''setitto

/rrbot/camera1/image_raw

.

YoushouldseeacameraviewofyourGazeboenvironment.Inthefollowingtwopictures,asodacanwasaddedtotheenvironmentforbettervisuals.

Thecokecanadded:

Thecorrespondingcameraviewafterthependulumhasfallen:

Multicamera 多目相机

Description:synchronizesmultiplecamera'sshutterssuchthattheypublishtheirimagestogether.Typicallyusedforstereocameras,usesaverysimilarinterfaceastheplain

Camera

plugin

Note:currentlyonlysupportsstereocameras.See
Githubissue.

AtlasCodeExample

Inthiscodeexamplethereisbothaleftandrightcamera:

<gazeboreference="left_camera_frame">
<sensortype="multicamera"name="stereo_camera">
<update_rate>30.0</update_rate>
<cameraname="left">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<cameraname="right">
<pose>0-0.070000</pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<pluginname="stereo_camera_controller"filename="libgazebo_ros_multicamera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>multisense_sl/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>left_camera_optical_frame</frameName>
<!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>

DepthCamera深度相机

Description:simulatesasensorlikeaKinect,whichisduplicatedintheKinectplugin.Willprobablybemergedinthefuture.

OpenniKinect

'''Description:'''SimulatesanXbox-Kinect,publishesthesametopicsasthecorrespondingROSdriversfortheXboxkinectasdocumentedintheFuertedocumentationhere.

<gazebo>
<pluginname="${link_name}_controller"filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>${camera_name}_ir</cameraName>
<imageTopicName>/${camera_name}/depth/image_raw</imageTopicName>
<cameraInfoTopicName>/${camera_name}/depth/camera_info</cameraInfoTopicName>
<depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/${camera_name}/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/${camera_name}/depth/points</pointCloudTopicName>
<frameName>${frame_name}</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</gazebo>

GPULaser 激光

Description:simulateslaserrangesensorbybroadcastingLaserScanmessageasdescribedinsensor_msgs.SeeHokuyoLaserScannersReference.

RRBotExample

SeetheRRBotExampleforaddingaCameratoRRBotbeforereviewingthisexample.Similartoaddingacamera,wewilladdanewlinkandjointtotheXacroURDFoftheRRBot.Thistime,insteadofusingjustarectangleforthevisualmodel,we'llusea
mesh: 添加模型文件

<jointname="hokuyo_joint"type="fixed">
<axisxyz="010"/>
<originxyz="00${height3-axel_offset/2}"rpy="000"/>
<parentlink="link3"/>
<childlink="hokuyo_link"/>
</joint>

<!--HokuyoLaser-->
<linkname="hokuyo_link">
<collision>
<originxyz="000"rpy="000"/>
<geometry>
<boxsize="0.10.10.1"/>
</geometry>
</collision>

<visual>
<originxyz="000"rpy="000"/>
<geometry>
<meshfilename="package://rrbot_description/meshes/hokuyo.dae"/>
</geometry>
</visual>

<inertial>
<massvalue="1e-5"/>
<originxyz="000"rpy="000"/>
<inertiaixx="1e-6"ixy="0"ixz="0"iyy="1e-6"iyz="0"izz="1e-6"/>
</inertial>
</link>

Nowwe'lladdtheplugininformationto

rrbot.gazebo

,againaswedidforthecameraexample: 传感器与插件配置

<!--hokuyo-->
<gazeboreference="hokuyo_link">
<sensortype="gpu_ray"name="head_hokuyo_sensor">
<pose>000000</pose>
<visualize>false</visualize>
<update_rate>40</update_rate><ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!--NoiseparametersbasedonpublishedspecforHokuyolaser
achieving"+-30mm"accuracyatrange<10m.Ameanof0.0mand
stddevof0.01mwillput99.7%ofsampleswithin0.03mofthetrue
reading.-->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<pluginname="gazebo_ros_head_hokuyo_controller"filename="libgazebo_ros_gpu_laser.so">
<topicName>/rrbot/laser/scan</topicName>
<frameName>hokuyo_link</frameName></plugin>
</sensor>
</gazebo>

Mostofthepropertiesareself-explanatory,butwe'llreviewsomebelow:激光线是否可视。

<visualize>false</visualize>

Whentrue,asemi-translucentlaserrayisvisualizedwithinthescanningzoneofthegpulaser.Thiscanbeaninformativevisualization,orannuisance.

Moredocumentationonthe

<sensor>

and

<ray>

elementscanbefoundinthe
SDFDocumentation. 消息名称与TF关系

<topicName>/rrbot/laser/scan</topicName>
<frameName>hokuyo_link</frameName>

SetthesetotheROStopicnameyouwouldliketopublishthelaserscansto,andthetransformframeyouwouldlikeTFtouse.

RunningtheRRBotExample

Afteryouhavesavedboth

rrbot.xacro

and

rrbot.gazebo

,youshouldbeabletolaunchbothRvizandGazeboinseparateterminals:

roslaunchrrbot_gazeborrbot.launch
roslaunchrrbot_descriptionrrbot_rviz.launch

InRviz,adda''LaserScan''displayandunder''Topic''setitto

/rrbot/camera1/image_raw

.

YoushouldseeafaintlaserscanlineinyourGazeboenvironment.Whilethependulumisswinging,youshouldalsoseethelaserscanswing.Ifthescanistoofaint,youcanupthesizeofthelaserscaninthepropertiesoftheLaserScandisplayinRviz.
Asizeof1misveryeasytosee.Inthefollowingtwopictures,ahouseandconstructionbarrelwasaddedtotheenvironmentforbettervisuals.

ViewfromGazebo:

ThecorrespondinglaserviewfromRviz:

Laser 是否支持GPU

Description:thenon-GPUversionof


GPULaser

,butessentiallyusesthesamecode.SeeGPULaserfordocumentation.

TorunwithRRBot,open

rrbot.gazebo

andchangethefollowingtwolines.

replace

<sensortype="gpu_ray"name="head_hokuyo_sensor">

with

<sensortype="ray"name="head_hokuyo_sensor">

andreplace

<pluginname="gazebo_ros_head_hokuyo_controller"filename="libgazebo_ros_gpu_laser.so">

with

<pluginname="gazebo_ros_head_hokuyo_controller"filename="libgazebo_ros_laser.so">

save,thenlaunchthesamelaunchfilesasforGPULaser.

BlockLaser 块激光（多线）

Description:providesgridstylelaserrangescannersimulation(e.g.Velodyne).

F3D(ForceFeedbackGroundTruth) 力反馈

Description:broadcastsexternalforcesonabodyinsimulationoverWrenchStampedmessageasdescribedingeometry_msgs.

Force 力

Description:ROSinterfaceforapplyingWrench(geometry_msgs)onabodyinsimulation.

IMU

Description:simulates
imu_node

JointPoseTrajectory 关节点跟踪

Description:listenstoajointtrajectoryactionandplaysbackthesetofjointpositions.Setsthesetofjointstoexactpositionswithoutregardstosimulatedphysicsandforces.

P3D(3DPositionInterfaceforGroundTruth) 运动位置捕捉

Description:broadcaststheinertialposeofanybodyinsimulationviaOdometrymessageasdescribedinnav_msgsviaROStopic.

Projector

Description:projectsastatictexturefromasourceoutwards,suchasusedwiththePR2'soriginalheadcamerasensor.SeeAPI
documentationformoreinformation.

ProsilicaCamera

Description:Simulatesinterfacesexposedbya
ROSProsilicaCamera.Here'san
exampleURDFXacromacro.

Bumper 保险杠减震器

Description:providescontactfeedbackvia
ContactsStatemessage.

<gazebo>
<pluginname="${name}_gazebo_ros_bumper_controller"filename="libgazebo_ros_bumper.so">
<alwaysOn>true</alwaysOn>
<updateRate>${update_rate}</updateRate>
<bumperTopicName>${name}_bumper</bumperTopicName>
<frameName>world</frameName>
</plugin>
</gazebo>

DifferentialDrive 差速驱动

DescriptionmodelpluginthatprovidesabasiccontrollerfordifferentialdriverobotsinGazebo.Youneedawelldefineddifferentialdriverobottousethisplugin.

<gazebo>
<pluginname="differential_drive_controller"filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>${update_rate}</updateRate>
<leftJoint>base_link_right_wheel_joint</leftJoint>
<rightJoint>base_link_left_wheel_joint</rightJoint>
<wheelSeparation>0.5380</wheelSeparation>
<wheelDiameter>0.2410</wheelDiameter>
<torque>20</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>

SkidSteeringDrive 滑动导向驱动

DescriptionmodelpluginthatprovidesabasiccontrollerforskidsteeringdriverobotsinGazebo(Pioneer3ATforinstance).

<gazebo>
<pluginname="skid_steer_drive_controller"filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace>/</robotNamespace>
<leftFrontJoint>front_left_wheel_joint</leftFrontJoint>
<rightFrontJoint>front_right_wheel_joint</rightFrontJoint>
<leftRearJoint>back_left_wheel_joint</leftRearJoint>
<rightRearJoint>back_right_wheel_joint</rightRearJoint>
<wheelSeparation>0.4</wheelSeparation>
<wheelDiameter>0.215</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame>
<torque>20</torque>
<topicName>cmd_vel</topicName>
<broadcastTF>false</broadcastTF>
</plugin>
</gazebo>

VideoPlugin 视频

DescriptionvisualpluginthatdisplaysaROSimagestreamonanOGRETextureinsidegazebo.Thisplugindoesnotmodifythetextureofoneoftheexistinglinksurfaces,butcreatesanewtextureontopofit.Thetexturewillbecreated
ontheXYplane,visiblefromthe+Zside.Thepluginrequiresapixelsizewhileconstructingthetexture,andwillresizeincomingROSimagemessagestomatchiftheyareadifferentsize.

<gazeboreference="display_screen_link">
<visual>
<pluginname="display_video_controller"filename="libgazebo_ros_video.so">
<topicName>image</topicName>
<height>120</height>
<width>160</width>
</plugin>
</visual>
</gazebo>

PlanarMovePlugin 平面运动

Descriptionmodelpluginthatallowsarbitraryobjects(forinstancecubes,spheresandcylinders)tobemovedalongahorizontalplaneusingageometry_msgs/Twistmessage.Thepluginworksbyimpartingalinearvelocity(XY)andanangular
velocity(Z)totheobjecteverycycle.

HereisafullURDFexamplethatdemonstrateshowtocontrolafloatingboxinsidegazebousingthisplugin,usingdifferentvisualandcollisionelements.Note:Theobjectneedstohavesufficientinertiatopreventundesirablemotions-whichcanoccur
asareactiontothesuppliedvelocity.Youcantryincreasinginertiauntiltheobjectmovesasdesired.Itisalsogoodtohavethecenterofmassclosetotheground.

<robotname="test_model">

<!--rootlink,onthegroundjustbelowthemodelorigin-->
<linkname="base_footprint">
<visual>
<originxyz="000"rpy="000"/>
<geometry>
<boxsize="0.0010.0010.001"/>
</geometry>
</visual>
</link>

<jointname="base_link_joint"type="fixed">
<originxyz="0.001.25"rpy="000"/>
<parentlink="base_footprint"/>
<childlink="base_link"/>
</joint>

<!--themodel-->
<linkname="base_link">
<inertial>
<massvalue="50"/>
<originxyz="00-1.25"/>
<inertiaixx="50.0"ixy="0.0"ixz="0.0"
iyy="50.0"iyz="0.0"
izz="50.0"/>
</inertial>
<visual>
<geometry>
<boxsize="0.50.51.0"/><!--doesnotneedtomatchcollision-->
</geometry>
</visual>
<collision>
<originxyz="00-1.0"/>
<geometry>
<cylinderlength="0.5"radius="0.25"/>
</geometry>
</collision>
</link>

<gazebo>
<pluginname="object_controller"filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>

</robot>

Template 自定义插件

Description:anexamplec++plugintemplateforanyonewhowantstowritetheirownplugin.

NextSteps

Nextwewillanalyzethe

ros_control

packagesintegratedwithGazebofortightcontroller/actuator/simulatorintegrationActuators,
controllers,andros_control.

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章节导航

Tutorial: Using Gazebo plugins with ROS

Prerequisites

AddingPlugins

Addingaplugintothe
<robot>
element

Addingaplugintothe
<link>
element

Addingaplugintothe
<joint>
element

Pluginsavailableingazebo_plugins 预先安装的可用插件

Camera

RRBotExample

RunningtheRRBotExample

Multicamera 多目相机

AtlasCodeExample

DepthCamera深度相机

OpenniKinect

GPULaser 激光

RRBotExample

RunningtheRRBotExample

Laser 是否支持GPU

BlockLaser 块激光（多线）

F3D(ForceFeedbackGroundTruth) 力反馈

Force 力

IMU

JointPoseTrajectory 关节点跟踪

P3D(3DPositionInterfaceforGroundTruth) 运动位置捕捉

Projector

ProsilicaCamera

Bumper 保险杠减震器

DifferentialDrive 差速驱动

SkidSteeringDrive 滑动导向驱动

VideoPlugin 视频

PlanarMovePlugin 平面运动

Template 自定义插件

NextSteps

Tutorial: Using Gazebo plugins with ROS

Prerequisites

AddingPlugins

Addingaplugintothe<robot>element

Addingaplugintothe<link>element

Addingaplugintothe<joint>element

Pluginsavailableingazebo_plugins 预先安装的可用插件

Camera

RRBotExample

RunningtheRRBotExample

Multicamera 多目相机

AtlasCodeExample

DepthCamera深度相机

OpenniKinect

GPULaser 激光

RRBotExample

RunningtheRRBotExample

Laser 是否支持GPU

BlockLaser 块激光（多线）

F3D(ForceFeedbackGroundTruth) 力反馈

Force 力

IMU

JointPoseTrajectory 关节点跟踪

P3D(3DPositionInterfaceforGroundTruth) 运动位置捕捉

Projector

ProsilicaCamera

Bumper 保险杠减震器

DifferentialDrive 差速驱动

SkidSteeringDrive 滑动导向驱动

VideoPlugin 视频

PlanarMovePlugin 平面运动

Template 自定义插件

NextSteps

Addingaplugintothe
<robot>
element

Addingaplugintothe
<link>
element

Addingaplugintothe
<joint>
element