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。

[html] view plain copy print?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： [html] view plain copy print?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/ actor.world pioneer2dx.world blank.world plane_demo.world camera.world plugin.world cart_demo.world polyline.world cessna_demo.world population.world contact.world pr2.world

depth_camera.world presentation.world elevator.world pressure_sensor.world empty_1_0.world projector.world

empty_bullet.world quad_rotor_demo_2.world empty_sky.world quad_rotor_demo.world empty.world random_velocity.world everything.world ray_cpu.world

flocking.world ray_noise_plugin.world

force_torque_demo.world road_textures.world friction_demo.world road.world

gripper.world robocup09_spl_field.world heightmap_dem.world robocup14_spl_field.world heightmap.world robocup_3Dsim.world hydra_demo.world rubble.world imu_demo.world seesaw.world initial_velocity.world shapes_bitmask.world joint_damping_demo.world shapes_layers.world joint_friction_demo.world shapes.world

joints.world sim_events.world lift_drag_demo.world simple_arm.world lights.world simple_gripper.world linear_battery_demo.world single_rotor_demo.world logical_camera.world sonar_demo.world

magnetometer.world sphere_atlas_demo.world mud_bitmask.world stacks.world mud.world timer_gui.world

multilink_shape.world torsional_friction_demo.world nested_model.world transporter.world openal.world trigger.world

ortho.world twin_rotor_demo.world osrf_elevator.world underwater.world pioneer2dx_camera.world willowgarage.world pioneer2dx_laser_camera.world wireless_sensors.world pioneer2dx_laser.world

在ubuntu下默認的路徑爲：/usr/share/gazebo-7/worlds/。

啓動一個示例，如下：

[html] view plain copy print?在CODE上查看代码片派生到我的代码片 /usr/share/gazebo-7/worlds$ gazebo lift_drag_demo.world

啓動一個帶有天空的環境：

[html] view plain copy print?在CODE上查看代码片派生到我的代码片 /usr/share/gazebo-7/worlds$ gazebo empty_sky.world