机器人操作系统ROS笔记--Gazebo的使用

Gazebo的是ROS使用的一个重要的仿真工具，环境配置与“机器人操作系统ROS笔记–从仿真开始”相同，只是采用Gazebo而不是Arbotix（Rviz）做仿真；如果需要模拟物理现象和传感器反馈，需要使用Gazebo。

roslaunch mybot_gazebo mybot_world.launch
roslaunch mybot_description mybot_rviz.launch

分别打开Gazebo和Rviz,

仿真窗口出现小车

执行以下命令：

rostopic pub /cmd_vel geometry_msgs/Twist “linear:
x: 0.2
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.1”

可以观察到机器人在Gazebo和Rviz窗口中同时运动。

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Simulating a robot’s controllers in Gazebo can be accomplished using ros_control and a simple Gazebo plugin adapter. An overview of the relationship between simulation, hardware, controllers and transmissions is shown below:

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机器人在实际环境中运行至少需要以下模块:

• sensors to reveal the surrounding environment
• planning to figure out what to do
• actuators that make the robot move

仿真摄像头
在myrobot包的基础上增加两个模块：

1. mybot_description/urdf/mybot.xacro - Add the camera model
2. mybot_description/urdf/mybot.gazebo - Add the camera plugin

> roslaunch mybot_gazebo mybot_world.launch> rosrun image_view image_view image:=/mybot/camera1/image_raw> roslaunch mybot_description mybot_rviz.launch

仿真激光器
增加两个模块：
1. mybot_description/urdf/mybot.xacro - Add the laser model
2. mybot_description/urdf/mybot.gazebo - Add the laser plugin
3. mybot_description/meshes/hokuyo.dae (optional) - Fancy hokuyo laser model

在 Gazebo 和 rviz 中仿真实验。