目錄
安裝Gazebo
Gazeop是一款仿真軟件，和ROS有非常好的兼容性，通常來說使用rviz就可以滿足絕大部分需求，但是要考慮真實世界的物理屬性的話（比如摩擦力，空氣阻力，溼度，地面凹凸程度等），就需要用到Gazepo
1.添加源
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
2.安裝gazebo
sudo apt-get update
sudo apt-get install gazebo7
sudo apt-get install libgazebo7-dev
使用Gazepo 實現攝像頭仿真
1.工作空間與功能包的創建
//創建工作空間
$ source /opt/ros/kinetic/setup.zsh
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make
$ souce ~/catkiin_ws/devel/setup.zsh
$ cd ~/catkin_ws/src
//創建功能包
$ catkin_create_pkg my_gazebo gazebo_plugins gazebo_ros gazebo_ros_control roscpp rospy
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.zsh
//創建目錄結構
$ cd ~/catkin_ws/src/my_gazebo
$ mkdir worlds launch
2）Gazebo配置文件
請按照下列方式命名，或修改launch文件
$ cd world
$ touch playground.world
該文件由Gazebo界面配置後導出，非手動編寫，複製即可
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>0.5 0.1 -0.9</direction>
</light>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<physics type='ode'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<model name='bookshelf'>
<static>1</static>
<link name='link'>
<inertial>
<mass>1</mass>
</inertial>
<collision name='back'>
<pose>0 0.005 0.6 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual1'>
<pose>0 0.005 0.6 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='left_side'>
<pose>0.45 -0.195 0.6 0 -0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual2'>
<pose>0.45 -0.195 0.6 0 -0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='right_side'>
<pose>-0.45 -0.195 0.6 0 -0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual3'>
<pose>-0.45 -0.195 0.6 0 -0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='bottom'>
<pose>0 -0.195 0.03 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual4'>
<pose>0 -0.195 0.03 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='top'>
<pose>0 -0.195 1.19 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual5'>
<pose>0 -0.195 1.19 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='low_shelf'>
<pose>0 -0.195 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual6'>
<pose>0 -0.195 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='high_shelf'>
<pose>0 -0.195 0.8 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual7'>
<pose>0 -0.195 0.8 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>0 1.53026 0 0 -0 0</pose>
</model>
<model name='jersey_barrier'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 -1 0 0 -0 -0.7</pose>
</model>
<model name='ground_plane_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>0.497681 0 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>0 0</sim_time>
<real_time>0 44986</real_time>
<wall_time>1377677575 940727583</wall_time>
<model name='Dumpster'>
<pose>1 -3.44458 0 0 -0 0</pose>
<link name='link'>
<pose>1 -3.44458 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='cube_20k'>
<pose>1.41131 -1 0 0 -0 0.9</pose>
<link name='link'>
<pose>1.41131 -1 0.5 0 -0 0.9</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='unit_cylinder_1'>
<pose>-2 -3.4888 0.5 0 -0 0</pose>
<link name='link'>
<pose>-2 -3.4888 0.5 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>1.33336 -0.422442 27.6101 3e-06 1.5698 3.04015</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<model name='unit_cylinder_1'>
<pose>-2 -3.4888 0.5 0 -0 0</pose>
<link name='link'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<static>0</static>
</model>
<model name='Dumpster'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://dumpster/materials/scripts</uri>
<uri>model://dumpster/materials/textures</uri>
<name>Dumpster/Diffuse</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>1 -3.44458 0 0 -0 -0.3</pose>
<static>0</static>
</model>
<model name='cube_20k'>
<link name='link'>
<pose>0 0 0.5 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cube_20k/meshes/cube_20k.stl</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cube_20k/meshes/cube_20k.stl</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>1.41131 -1 0 0 -0 0.9</pose>
<static>0</static>
</model>
</world>
</sdf>
3)車體urdf建模與控制程序
非常建議閱讀該篇文章後再閱讀下面內容
ROS ArbotiX控制+xacro機器人仿真模型設計 實現初級建模與車體控制
或下載
urdf描述包：https://gitee.com/alen2020/mbot_description.git
車體控制包：https://gitee.com/alen2020/mbot_teleop.git
4)launch文件
在加載機器人模型描述參數這裏引入了功能包，若沒有該功能包需要看上一節給出的鏈接文件，裏面介紹到xacro文件的編寫，或有自己的一套車體模型，則引入自己的，注意命名。
<launch>
<!-- 設置launch文件的參數 -->
<arg name="world_name" value="$(find mbot_gazebo)/worlds/playground.world"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 運行gazebo仿真環境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- 加載機器人模型描述參數 -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_camera_gazebo.xacro'" />
<!-- 運行joint_state_publisher節點，發佈機器人的關節狀態 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 運行robot_state_publisher節點，發佈tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加載機器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
5)執行launch文件運行程序
開啓三個終端，執行下三條指令
$ roslaunch test1 view_mbot_with_camera_gazebo.launch
$ roslaunch mbot_teleop mbot_teleop.launch
$ rqt_image_view
在rqt_image_view中選擇訂閱/camera/image_raw話題，移動車體，即可看到實時視圖
使用Gazepo 實現雷達仿真
1)Launch文件
使用雷達仿真修改launch文件即可，前提是有車體urdf建模這個包，我在上一節給出
與攝像頭不同的是xacro的引入文件
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_laser_gazebo.xacro'" />
<launch>
<!-- 設置launch文件的參數 -->
<arg name="world_name" value="$(find mbot_gazebo)/worlds/playground.world"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 運行gazebo仿真環境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- 加載機器人模型描述參數 -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_laser_gazebo.xacro'" />
<!-- 運行joint_state_publisher節點，發佈機器人的關節狀態 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 運行robot_state_publisher節點，發佈tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加載機器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
2) 執行
開啓三個終端，執行下三條指令
$ roslaunch test1 view_mbot_with_laser_gazebo.launch
$ roslaunch mbot_teleop mbot_teleop.launch
$ rviz
可以看到單線激光雷達的點雲數據，控制車體移動，點雲數據實時變動
使用Gazepo 實現Kinect仿真
1）launch文件
使用Kinect仿真修改launch文件即可，前提是有車體urdf建模這個包，我在第一節給出
與攝像頭和激光雷達不同的是xacro的引入文件
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_kinect_gazebo.xacro'" />
<launch>
<!-- 設置launch文件的參數 -->
<arg name="world_name" value="$(find mbot_gazebo)/worlds/playground.world"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 運行gazebo仿真環境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- 加載機器人模型描述參數 -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_kinect_gazebo.xacro'" />
<!-- 運行joint_state_publisher節點，發佈機器人的關節狀態 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 運行robot_state_publisher節點，發佈tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加載機器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
2）執行
$ roslaunch test1 view_mbot_with_laser_gazebo.launch
$ roslaunch mbot_teleop mbot_teleop.launch
$ rqt_image_view
$ rviz
kinect既可以看到點雲數據，也可以看到攝像頭信息，相對於激光雷達來說，Kinect的點雲掃射訪問很窄（通常不超過180度）
