ROS常用三維機器人仿真工具Gazebo教程匯總

參考網址：

1. http://gazebosim.org/tutorials

2. http://gazebosim.org/tutorials/browse

Gazebo Tutorials

Gazebo tutorials are organized into Guided and Categorized. Documentation is also available for the API, and a help forum is located at Gazebo Answers.

Guided

A curriculum-style set of tutorials, recommended for people new to Gazebo.

Beginner
First-time Gazebo users

Overview and Installation
Understanding the GUI
Model Editor
Bonus material Building with custom SVG
Building Editor
Logging and Playback

Intermediate
Customize simulation

Construct a Velodyne LiDAR
Model appearance
Sensor Noise
Upload Velodyne model
Control plugin
Connect to ROS

Advanced
Contribute to Gazebo.

Coming soon.

Categorized

Stand-alone tutorials categorized by topic. Click on a topic to view the tutorials in that category.

Installation Instructions to install Gazebo on all the plaforms suppor... Get Started Welcome to the Gazebo tutorials! This is a great place to... Build a Robot The following tutorials describe how to build and modify ... Model Editor The following tutorials describe how to build and modify ... Build a World These tutorials describe how to create an environment in ... Tools and utilities Gazebo ships with many tools and utilities. These tutoria... Write a plugin Plugins allow you to control models, sensors, world prope... Plugins The following tutorials describe how to use plugins that ... Sensors A simulated sensor analyzes the environment and produces ... Using Math Gazebo has a custom math library. These tutorials describ... User input User input can take many forms, including interactions fr... Connect to Player Player is a robot control framework. These tutorials desc... Web client (Gzweb) Gzweb is a WebGL client for Gazebo. It lets you interact ... Connect to ROS ROS is a robot control framework. These tutorials describ... Transport Library Communication between the simulation server and client to... Physics Library A core component of Gazebo are the physics engines. These... Rendering Library Gazebo's rendering library is used to generate sensor dat... Development Customizing Gazebo is easy thanks to extensive documentat... DRCSim DARPA Robotics Challenge specific tutorials. Scripting (javascript and NodeJs) Gazebo scripting interface: NodeJS bindings for the Gazeb... HAPTIX The following are tutorials designed for...

Gazebo Tutorials Browse

Beginner: Overview Overview and installation instructions Beginner: GUI Introduction to the graphical interface. Beginner: Model Editor How to make or edit a model. Intermediate: Velodyne How to construct a Velodyne model. Intermediate: Model Appearance How to add meshes to a model to improve visual appearance. Intermediate: Sensor Noise How to add noise to a sensor. Intermediate: Upload Velodyne Model How to upload a model to the model database. Intermediate: Control plugin How to control a sensor using a plugin. Intermediate: Connect to ROS How to control a plugin using ROS. Ubuntu Installation instructions for Ubuntu using packages (amd6... Debian, Fedora, Arch or Gentoo Installation instructions for major linux distributions... Mac Installation instructions for Mac installations using hom... Windows Installation instructions for Windows. Unstable packages: prerelease and nig... How to install and uninstall the unstable Ubuntu... From source (Ubuntu and Mac) Installation instructions for building a gazebo a... Old versions (prior to gazebo4) Installation instructions for version prior to 4.0 of Gazebo Quick Start Simple and fast introduction to Gazebo. Plugins 101 Overview of Gazebo plugins. Model plugins Manipulate a model using a model plugin. World plugins Inserting models using a world plugin. Programmatic World Control Modify world properties, such as ambient color and the ph... Make a Mobile Robot How to make a 2-wheeled mobile robot Import Meshes How to import 3D meshes into Gazebo for use as visual and... Attach Meshes Improve model visual appearance by attaching Collada meshes Add a Sensor to a Robot How to add a laser sensor to a robot Make a Simple Gripper Build a simple pinching gripper Attach Gripper to Robot Connect the simple gripper to the mobile robot Make a model Describes models, and how to create custom models. Model structure and requirements Describes how Gazebo finds and load models, and requireme... How to contribute a model Describes how add a new model to the Gazebo model database. Nested model Describes how to create an assembly of models. Sensor Noise Model How to add noise to sensors Camera Distortion How to add distortion to cameras. Building a world How to populate a simulated world with simulated objects. Modifying a world How to change scene and physics parameters of a world usi... Random numbers How to set the random number seed. Topics subscription How to subscribe to gazebo topics. Custom messages How to create custom messages Friction How to setup friction properties. Torsional friction How to setup torsional friction properties. Collide bitmask Learn how to control which geometries collide or do not c... Fluids Fluid simulation on the GPU using Fluidix library. Aerodynamics Simulate aerodynamic robots and vehicles with the LiftDra... Hydrodynamics Simulate self-propelling underwater submarines using lift... Logging and playback Record and playback your simulation, via the GUI or comma... Log filtering How to filter a recorded state log file. Applying Force/Torque Use the graphical interface to apply force and torque to ... Instrument HDF5 Datasets How to dump simulation data into HDF5 format for benchmark. Gazebo Components Overview of the basic components in a Gazebo simulation. Gazebo Architecture Overview of Gazebo's code structure. Population of models Automatically create a collection of identical models. Building Editor Create multi-level buildings without having to write code. Model Editor Create and edit models within a model editor. Extrude SVG files Extrude 2D SVG files into 3D meshes to create robots. Gzweb installation Explains how to install and run the WebGL client for Gazebo. Gzweb development How to make changes to Gzweb and contribute your modifica... Elevators How to create and use elevators. Joint Events Use the SimEvents plugin to send messages when a joint st... Occupied Event Use the OccupiedEvent plugin to send messages when a 3D r... Contact Sensor How to create and get data from contact sensors. Random Velocity Plugin Use this for random walks of any link. ROS overview Overview of ROS integration. ROS control Using actuators, controllers, and ros_control with Gazebo. ROS communication ROS communication with Gazebo. ROS plugin Create ROS for Gazebo. Installing gazebo_ros_pkgs Installing gazebo_ros_pkgs. Using roslaunch Using roslaunch to start Gazebo, world files and URDF mod... URDF in Gazebo Using a URDF in Gazebo Gazebo plugins in ROS Using Gazebo plugins with ROS Animated Box Animate the pose of box. Inertial parameters of triangle meshes Identify reasonable inertial parameters for a model compo... Manage physics profiles Use the Preset Manager interface to store and switch betw... Parallel physics Take advantage of improved physics performance with two d... Visual Lightmap How to apply lightmaps to a model visual. Razer Hydra Using the Razer Hydra System Plugin Describes the process of making a system plugin that is l... Which combination of ROS/Gazebo versi... Details the reasons to pick an specific ROS or Gazebo ver... Using the RobotiQ 3-Finger Adaptive R... How to grasp and view the state while using the 3-Finger ... Visibility layers Assign layers to visuals and toggle their visibility in t... Digital Elevation Models How to use DEMs in Gazebo. Oculus Rift Using the Oculus Rift VR headset Stereo Glasses Setup Gazebo to generate a stereo images suitable for use... Advanced ROS Integration Miscellaneous Gazebo-ROS tricks and tips. Add/Modify Tutorials How to add or modify tutorials. Contribute Code How to create new code for inclusion into Gazebo. Development process Description of the Gazebo development process. Capture screenshot Shows how to capture a screen shot of Gazebo's render win... Player Position Covers connecting the position2d Player interface to Gazebo. Player Laser Covers connecting the laser Player interface to Gazebo. Player Camera Covers connecting the camera Player interface to Gazebo. Clone a simulation This tutorial describes how to clone the current simulation. BDI Atlas Robot Interface 3.0.0 Stand... A guide to compiling a stand-in for the AtlasRobotInterfa... Launchfile options A guide to launching DRCSim with different Atlas versions... Atlas fake walking How to drive a simulated Atlas as if it were a wheeled ro... Spawn Atlas into a custom world How to spawn Atlas into your own custom world. Modify environment How to modify the simulated Atlas' environment, such as a... DRC Simulator installation Explains how to install the DRC Simulator. Visualization and logging How to visualize and log sensor data. Atlas MultiSense SL head How to visualize data streams from the simulated Atlas ro... Animate joints How to move a robot in simulation without dynamics throug... Grasp with Sandia hands How to send desired grasp pose to Sandia hands mounted on... Atlas Keyboard Teleoperation over ROS DRCSim provides an interface to the Atlas Sim Interface a... Atlas switching control modes How to use the BDI-provided behavior library to control t... How to use the Atlas Sim Interface How to use the Atlas Sim Interface to command Atlas to wa... Atlas Controller Synchronization over... How to setup synchronized controller updates over ROS top... Atlas control over ROS with python How to control the Atlas robot with a python joint trajec... Sending joint commands with ROS How to send joint positions to a robot in simulation thro... DRC vehicle tele-operation How to control the DRC Vehicle using ROS topics provided ... DRC vehicle tele-operation with Atlas How to automatically place the Atlas robot in the driver'... Changing Viscous Damping Coefficients... Changing Atlas and Sandia Hand Joint Viscous Damping Coef... Teleoperate atlas with a music mixer How to use a music mixer, to teleoperate the Atlas model. Running BDI controller demo How to start the 5-step behavior demo implemented in the ... GUI Overlay This tutorial describes how to create custom GUI interfac... GazeboJs installation Explains how to install the javascript NodeJs bindings to... GazeboJs installation on Mac Explains how to install the javascript NodeJs bindings to... GazeboJs publish and subscribe Explains how to write publishers and subscribers for Gaze... GazeboJs camera topics Explains how to save images from Gazebo camera topics. GazeboJs models Explains how to access the sdf and to get other informati... GazeboJs hydra publisher Hydra publisher using node-sixense and GazeboJs HAPTIX environment setup Instructions for the hardware installation and de... HAPTIX C API This tutorial describes how to use the C API, defined at... HAPTIX software install and update This tutorial describes how to install... HAPTIX Matlab and Octave API This tutorial describes how to use the... HAPTIX Simulation World API This tutorial describes how to use the World API to manip... HAPTIX Tactor Glove This tutorial describes how to craft a DIY tactor glove f... HAPTIX Teleoperation This tutorial describes how to control arm position and g... HAPTIX Optitrack Control How to configure the... HAPTIX Simulation World API with Cust... This tutorial describes how to use the World API to manip... HAPTIX logging This tutorial describes how to use the World API and ... HAPTIX DEKA Luke hand installation This tutorial describes how to install the DEKA Luke ... HAPTIX Simulation Scoring Plugin Example This tutorial describes how to use the Gazebo SimEvents p...