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.
gazebo
Run Gazebo with a robot
Let's simulate something a bit more interesting by loading a world with a pioneer2dx. Open a terminal and enter the following command. gazebo worlds/pioneer2dx.world Where are the worlds located?
You may have noticed the mysterious worlds/pioneer2dx.world
argument in the above command. This instructs gazebo to find the pioneer2dx.world file, and load it on start.
World files are located in a versioned system directory, for example /usr/share/gazebo-7
on Ubuntu. If you have Gazebo 7.0 installed on Ubuntu, in a terminal type the following to see a complete list of worlds.
ls /usr/share/gazebo-7/worlds
For a Gazebo 7.0 installation on OS X using Homebrew, type the following to see a complete list of worlds.
ls /usr/local/share/gazebo-7/worlds Client and server separation The gazebo
command actually runs two different executables for you. Thefirst is called gzserver, and the second gzclient. The gzserver
executable runs the physics update-loop and sensor datageneration. This is the core of Gazebo, and can be used independently of agraphical interface. You may see the phrase \headless\thrown about inthe forums. This phrase equates to running only the gzserver. An exampleuse case would involve running gzserver on a cloud computer where a userinterface is not needed. The gzclient
executable runs a QT based userinterface. This application provides a nice visualization of simulation, andcowww.shanxiwang.netnvenient controls over various simulation properties. Try running each of these executables. Open a terminal and run the server: gzserver
Open another terminal and run the graphical client: gzclient
At this point you should see the Gazebo user interface. You restart thegzclient application as often as you want, and even run multipleinterfaces.
This page describes each of the items involved in running a Gazebo simulation. World Files
The world description file contains all the elements in a simulation, including robots, lights, sensors, and static objects. This file is formatted using SDF (Simulation Description Format), and typically has a .world extension.
The Gazebo server (gzserver
) reads this file to generate and populate a world.
A number of example worlds are shipped with Gazebo. These worlds are located in
.
Model Files
A model file uses the same SDF format as world files, but should only contain a single
. The purpose of these files is to facilitate model reuse, and simplify world files. Once a model file is created, it can be included in a world file using the following SDF syntax:
A number of models are provided in the online model database (in previous versions, some example models were shipped with Gazebo). Assuming that you have an Internet connection when running Gazebo, you can insert any model from the database and the necessary content will be downloaded at runtime. Environment Variables
Gazebo uses a number of environment variables to locate files, and set up communications between the server and clients.
Starting with Gazebo 1.9.0, default values that work for most cases are compiled in. This means you don't need to set any variables. Here are the variables: GAZEBO_MODEL_PATH
: colon-separated set of directories where Gazebo will search for models GAZEBO_RESOURCE_PATH
: colon-separated set of directories where Gazebo will search for other resources such as world and media files.
GAZEBO_MASTER_URI
: URI of the Gazebo master. This specifies the IP and port where the server will be started and tells the clients where to connect to. GAZEBO_PLUGIN_PATH
: colon-separated set of directories where Gazebo will search for the plugin shared libraries at runtime.
GAZEBO_MODEL_DATABASE_URI
: URI of the online model database where Gazebo will download models from. These defaults are also included in a shell script: source
If you want to modify Gazebo's behavior, e.g., by extending the path it searches for models, you should first source the shell script listed above, then modify the variables that it sets. Gazebo Server
The server is the workhorse of Gazebo. It parses a world description file given on the command line, and then simulates the world using a physics and sensor engine.
The server can be started using the following command. Note that the server does not include any graphics; it's meant to run headless. gzserver