[html] view plain copy print?在CODE上查看代码片派生到我的代码片
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“run headless”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：
Action OperationInstruction MODE
Enter Selection mode (default mode) Esc press Esc for mode to select models and right-click for context menu
Enter Rotate mode r press \
Enter Translate mode t press \Enter Scale mode s press \Enter Snap mode n press \MODELS
Delete model Delete press Delete when a model is selected to delete from scene Copy model Ctrl + c press Ctrl + \Paste model Ctrl + v press Ctrl + \MANIPULATING MODELS
Rotate model r press \
Translate model t press \Scale model s press \Constrain along axis x/y/zhold key while manipulating model to constrain movement along that axis Snap to 45° when rotating Ctrl + drag hold Ctrl while rotating model to rotate in 45° increments
Snap to grid when translating Ctrl + drag hold Ctrl while translating model to snap to grid
Snap to 1 m when scaling Ctrl + drag hold Ctrl while scaling mode to scale in 1 m increments
Snap when inserting Ctrl + drag hold Ctrl while inserting model to enable snap to grid
Snap models together n press \link to second GUI LAYOUT
Hide toolbars Ctrl + h hide/show top toolbar and bottom time panel Enter fullscreen F11 enter/exit fullscreen Action OperationInstruction EDITORS
Open Model Editor Ctrl + m open Model Editor to construct or edit models
Open Schematic View (Model Editor) Ctrl + e open Schematic View in Model Editor Open Building Editor Ctrl + b open Building Editor to construct buildings
Show floor plan (Building Editor) f show/hide floor plan in Building Editor 2D View
Show building features (Building Editor) g show/hide building features in Building Editor 2D View
New canvas (both Editors) Ctrl + n create new canvas
Save model (both Editors) Ctrl + s save model for later use Save as (both Editors) Ctrl + Shift + s save model for later use & give it a name Exit (both Editors) Ctrl + x exit Editor WORLD
Save world Ctrl + s press Ctrl + \Save as Ctrl + Shift + s press Ctrl + Shift + \Reset world Ctrl + r press Ctrl + \Reset model poses Ctrl + Shift + r press Ctrl + Shift + \DATA
Visualize topics Ctrl + t open dialog with list of topics currently advertized
Log data Ctrl + d open dialog to record log files MISCELLANEOUS
Quit Gazebo Ctrl + q press Ctrl + \
注意這裏gazebo並不能與ROS通訊，如果需要可以使用下面命令： [html] view plain copy print?在CODE上查看代码片派生到我的代码片 rosrun gazebo_ros gazebo rosrun gazebo_ros gzserver rosrun gazebo_ros gzclient
rosrun gazebo_ros spawn_model rosrun gazebo_ros perf rosrun gazebo_ros debug
啓動後可以看到：
[html] view plain copy print?在CODE上查看代码片派生到我的代码片 ~$ rostopic list /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。 Run Gazebo
These three steps will run Gazebo with a default world. Install Gazebo.
Open a terminal. On most Ubuntu systems you can press CTRL+ALT+t Start Gazebo by entering the following at the command prompt.