ROS常用三維機器人仿真工具Gazebo教程匯總

參考網址：

1. http://gazebosim.org/tutorials

2. http://gazebosim.org/tutorials/browse

Gazebo Tutorials 

Gazebo tutorials are organized into Guided and Categorized. Documentation is also available for the API, and a help forum is located at Gazebo Answers.

Guided

A curriculum-style set of tutorials, recommended for people new to Gazebo.

Beginner
First-time Gazebo users

1. Overview and Installation
2. Understanding the GUI
3. Model Editor

Bonus material

1. Building with custom SVG
2. Building Editor
3. Logging and Playback

Intermediate
Customize simulation

1. Construct a Velodyne LiDAR
2. Model appearance
3. Sensor Noise
4. Upload Velodyne model
5. Control plugin
6. Connect to ROS

Advanced
Contribute to Gazebo.

Coming soon.

Categorized

Stand-alone tutorials categorized by topic. Click on a topic to view the tutorials in that category.

Installation

Instructions to install Gazebo on all the plaforms suppor...

Get Started

Welcome to the Gazebo tutorials! This is a great place to...

Build a Robot

The following tutorials describe how to build and modify ...

Model Editor

The following tutorials describe how to build and modify ...

Build a World

These tutorials describe how to create an environment in ...

Tools and utilities

Gazebo ships with many tools and utilities. These tutoria...

Write a plugin

Plugins allow you to control models, sensors, world prope...

Plugins

The following tutorials describe how to use plugins that ...

Sensors

A simulated sensor analyzes the environment and produces ...

Using Math

Gazebo has a custom math library. These tutorials describ...

User input

User input can take many forms, including interactions fr...

Connect to Player

Player is a robot control framework. These tutorials desc...

Web client (Gzweb)

Gzweb is a WebGL client for Gazebo. It lets you interact ...

Connect to ROS

ROS is a robot control framework. These tutorials describ...

Transport Library

Communication between the simulation server and client to...

Physics Library

A core component of Gazebo are the physics engines. These...

Rendering Library

Gazebo's rendering library is used to generate sensor dat...

Development

Customizing Gazebo is easy thanks to extensive documentat...

DRCSim

DARPA Robotics Challenge specific tutorials.

Scripting (javascript and NodeJs)

Gazebo scripting interface: NodeJS bindings for the Gazeb...

HAPTIX

The following are tutorials designed for...

Gazebo Tutorials Browse

Beginner: Overview

Overview and installation instructions

Beginner: GUI

Introduction to the graphical interface.

Beginner: Model Editor

How to make or edit a model.

Intermediate: Velodyne

How to construct a Velodyne model.

Intermediate: Model Appearance

How to add meshes to a model to improve visual appearance.

Intermediate: Sensor Noise

How to add noise to a sensor.

Intermediate: Upload Velodyne Model

How to upload a model to the model database.

Intermediate: Control plugin

How to control a sensor using a plugin.

Intermediate: Connect to ROS

How to control a plugin using ROS.

Ubuntu

Installation instructions for Ubuntu using packages (amd6...

Debian, Fedora, Arch or Gentoo

Installation instructions for major linux distributions...

Mac

Installation instructions for Mac installations using hom...

Windows

Installation instructions for Windows.

Unstable packages: prerelease and nig...

How to install and uninstall the unstable Ubuntu...

From source (Ubuntu and Mac)

Installation instructions for building a gazebo a...

Old versions (prior to gazebo4)

Installation instructions for version prior to 4.0 of Gazebo

Quick Start

Simple and fast introduction to Gazebo.

Plugins 101

Overview of Gazebo plugins.

Model plugins

Manipulate a model using a model plugin.

World plugins

Inserting models using a world plugin.

Programmatic World Control

Modify world properties, such as ambient color and the ph...

Make a Mobile Robot

How to make a 2-wheeled mobile robot

Import Meshes

How to import 3D meshes into Gazebo for use as visual and...

Attach Meshes

Improve model visual appearance by attaching Collada meshes

Add a Sensor to a Robot

How to add a laser sensor to a robot

Make a Simple Gripper

Build a simple pinching gripper

Attach Gripper to Robot

Connect the simple gripper to the mobile robot

Make a model

Describes models, and how to create custom models.

Model structure and requirements

Describes how Gazebo finds and load models, and requireme...

How to contribute a model

Describes how add a new model to the Gazebo model database.

Nested model

Describes how to create an assembly of models.

Sensor Noise Model

How to add noise to sensors

Camera Distortion

How to add distortion to cameras.

Building a world

How to populate a simulated world with simulated objects.

Modifying a world

How to change scene and physics parameters of a world usi...

Random numbers

How to set the random number seed.

Topics subscription

How to subscribe to gazebo topics.

Custom messages

How to create custom messages

Friction

How to setup friction properties.

Torsional friction

How to setup torsional friction properties.

Collide bitmask

Learn how to control which geometries collide or do not c...

Fluids

Fluid simulation on the GPU using Fluidix library.

Aerodynamics

Simulate aerodynamic robots and vehicles with the LiftDra...

Hydrodynamics

Simulate self-propelling underwater submarines using lift...

Logging and playback

Record and playback your simulation, via the GUI or comma...

Log filtering

How to filter a recorded state log file.

Applying Force/Torque

Use the graphical interface to apply force and torque to ...

Instrument HDF5 Datasets

How to dump simulation data into HDF5 format for benchmark.

Gazebo Components

Overview of the basic components in a Gazebo simulation.

Gazebo Architecture

Overview of Gazebo's code structure.

Population of models

Automatically create a collection of identical models.

Building Editor

Create multi-level buildings without having to write code.

Model Editor

Create and edit models within a model editor.

Extrude SVG files

Extrude 2D SVG files into 3D meshes to create robots.

Gzweb installation

Explains how to install and run the WebGL client for Gazebo.

Gzweb development

How to make changes to Gzweb and contribute your modifica...

Elevators

How to create and use elevators.

Joint Events

Use the SimEvents plugin to send messages when a joint st...

Occupied Event

Use the OccupiedEvent plugin to send messages when a 3D r...

Contact Sensor

How to create and get data from contact sensors.

Random Velocity Plugin

Use this for random walks of any link.

ROS overview

Overview of ROS integration.

ROS control

Using actuators, controllers, and ros_control with Gazebo.

ROS communication

ROS communication with Gazebo.

ROS plugin

Create ROS for Gazebo.

Installing gazebo_ros_pkgs

Installing gazebo_ros_pkgs.

Using roslaunch

Using roslaunch to start Gazebo, world files and URDF mod...

URDF in Gazebo

Using a URDF in Gazebo

Gazebo plugins in ROS

Using Gazebo plugins with ROS

Animated Box

Animate the pose of box.

Inertial parameters of triangle meshes

Identify reasonable inertial parameters for a model compo...

Manage physics profiles

Use the Preset Manager interface to store and switch betw...

Parallel physics

Take advantage of improved physics performance with two d...

Visual Lightmap

How to apply lightmaps to a model visual.

Razer Hydra

Using the Razer Hydra

System Plugin

Describes the process of making a system plugin that is l...

Which combination of ROS/Gazebo versi...

Details the reasons to pick an specific ROS or Gazebo ver...

Using the RobotiQ 3-Finger Adaptive R...

How to grasp and view the state while using the 3-Finger ...

Visibility layers

Assign layers to visuals and toggle their visibility in t...

Digital Elevation Models

How to use DEMs in Gazebo.

Oculus Rift

Using the Oculus Rift VR headset

Stereo Glasses

Setup Gazebo to generate a stereo images suitable for use...

Advanced ROS Integration

Miscellaneous Gazebo-ROS tricks and tips.

Add/Modify Tutorials

How to add or modify tutorials.

Contribute Code

How to create new code for inclusion into Gazebo.

Development process

Description of the Gazebo development process.

Capture screenshot

Shows how to capture a screen shot of Gazebo's render win...

Player Position

Covers connecting the position2d Player interface to Gazebo.

Player Laser

Covers connecting the laser Player interface to Gazebo.

Player Camera

Covers connecting the camera Player interface to Gazebo.

Clone a simulation

This tutorial describes how to clone the current simulation.

BDI Atlas Robot Interface 3.0.0 Stand...

A guide to compiling a stand-in for the AtlasRobotInterfa...

Launchfile options

A guide to launching DRCSim with different Atlas versions...

Atlas fake walking

How to drive a simulated Atlas as if it were a wheeled ro...

Spawn Atlas into a custom world

How to spawn Atlas into your own custom world.

Modify environment

How to modify the simulated Atlas' environment, such as a...

DRC Simulator installation

Explains how to install the DRC Simulator.

Visualization and logging

How to visualize and log sensor data.

Atlas MultiSense SL head

How to visualize data streams from the simulated Atlas ro...

Animate joints

How to move a robot in simulation without dynamics throug...

Grasp with Sandia hands

How to send desired grasp pose to Sandia hands mounted on...

Atlas Keyboard Teleoperation over ROS

DRCSim provides an interface to the Atlas Sim Interface a...

Atlas switching control modes

How to use the BDI-provided behavior library to control t...

How to use the Atlas Sim Interface

How to use the Atlas Sim Interface to command Atlas to wa...

Atlas Controller Synchronization over...

How to setup synchronized controller updates over ROS top...

Atlas control over ROS with python

How to control the Atlas robot with a python joint trajec...

Sending joint commands with ROS

How to send joint positions to a robot in simulation thro...

DRC vehicle tele-operation

How to control the DRC Vehicle using ROS topics provided ...

DRC vehicle tele-operation with Atlas

How to automatically place the Atlas robot in the driver'...

Changing Viscous Damping Coefficients...

Changing Atlas and Sandia Hand Joint Viscous Damping Coef...

Teleoperate atlas with a music mixer

How to use a music mixer, to teleoperate the Atlas model.

Running BDI controller demo

How to start the 5-step behavior demo implemented in the ...

GUI Overlay

This tutorial describes how to create custom GUI interfac...

GazeboJs installation

Explains how to install the javascript NodeJs bindings to...

GazeboJs installation on Mac

Explains how to install the javascript NodeJs bindings to...

GazeboJs publish and subscribe

Explains how to write publishers and subscribers for Gaze...

GazeboJs camera topics

Explains how to save images from Gazebo camera topics.

GazeboJs models

Explains how to access the sdf and to get other informati...

GazeboJs hydra publisher

Hydra publisher using node-sixense and GazeboJs

HAPTIX environment setup

Instructions for the hardware installation and de...

HAPTIX C API

This tutorial describes how to use the C API, defined at...

HAPTIX software install and update

This tutorial describes how to install...

HAPTIX Matlab and Octave API

This tutorial describes how to use the...

HAPTIX Simulation World API

This tutorial describes how to use the World API to manip...

HAPTIX Tactor Glove

This tutorial describes how to craft a DIY tactor glove f...

HAPTIX Teleoperation

This tutorial describes how to control arm position and g...

HAPTIX Optitrack Control

How to configure the...

HAPTIX Simulation World API with Cust...

This tutorial describes how to use the World API to manip...

HAPTIX logging

This tutorial describes how to use the World API and ...

HAPTIX DEKA Luke hand installation

This tutorial describes how to install the DEKA Luke ...

HAPTIX Simulation Scoring Plugin Example

This tutorial describes how to use the Gazebo SimEvents p...

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