Gazebo机器人仿真学习探索笔记(三)机器人模型.doc

Gazebo機器人仿真學習探索筆記（三）機器人模型 模型庫下載，可以參考如下命令： [html]?view plain?copy ?print? ~/Rob_Soft/Gazebo7$?hg?clone?/osrf/gazebo_models?? 下載更改目錄下載到指定文件夾中。 模型庫的結構 目錄 配置等可以參考官方文檔，注意model.sdf。 當然也可以將自己制作的模型上傳到庫中，文檔中也有具體說明。 [html]?view plain?copy ?print? code$?hg?clone?https://yourname@/yourname/gazebo_models?? gazebo_models$?hg?add?mymodel?? gazebo_models$?hg?add?mymodel/model.config?? gazebo_models$?hg?add?mymodel/model.sdf?? gazebo_models$?hg?commit?? gazebo_models$?hg?push?? SDF模型生成 [html]?view plain?copy ?print? ~/Rob_Soft/Gazebo7$?gedit?box.sdf?? 在其中輸入： [html]?view plain?copy ?print? ?xml?version=1.0??? sdf?version=1.4?? model?name=my_model?? ??pose0?0?0.5?0?0?0/pose?? ??statictrue/static?? ????link?name=link?? ??????inertial?? ????????mass1.0/mass?? ????????inertia?!--?interias?are?tricky?to?compute?--?? ??????????!--?/question/4372/the-inertia-matrix-explained/?--?? ??????????ixx0.083/ixx???????!--?for?a?box:?ixx?=?0.083?*?mass?*?(y*y?+?z*z)?--?? ??????????ixy0.0/ixy?????????!--?for?a?box:?ixy?=?0?--?? ??????????ixz0.0/ixz?????????!--?for?a?box:?ixz?=?0?--?? ??????????iyy0.083/iyy???????!--?for?a?box:?iyy?=?0.083?*?mass?*?(x*x?+?z*z)?--?? ??????????iyz0.0/iyz?????????!--?for?a?box:?iyz?=?0?--?? ??????????izz0.083/izz???????!--?for?a?box:?izz?=?0.083?*?mass?*?(x*x?+?y*y)?--?? ????????/inertia?? ??????/inertial?? ??????collision?name=collision?? ????????geometry?? ??????????box?? ????????????size1?1?1/size?? ??????????/box?? ????????/geometry?? ??????/collision?? ??????visual?name=visual?? ????????geometry?? ??????????box?? ????????????size1?1?1/size?? ??????????/box?? ????????/geometry?? ??????/visual?? ????/link?? ??/model?? /sdf?? 然後保存即可。 機器人模型 1 設置模型目錄 [html]?view plain?copy ?print? ~/.gazebo/models$?mkdir?-p?~/.gazebo/models/my_robot?? ~/.gazebo/models$?gedit?~/.gazebo/models/my_robot/model.config?? [html]?view plain?copy ?print? ?xml?version=1.0??? model?? ??nameMy?Robot/name?? ??version1.0/version?? ??sdf?version=1.4model.sdf/sdf?? ?? ??author?? ???nameMy?Name/na