(源码)基于ROS和ARIA库的移动机器人控制系统.zip

This directory contains some example launch files and other configuration that can be used with the Gazebo simulator. These are intended to serve as examples. Make copies to modify further for your own projects. For more information about using Gazebo with ROS, start at <http://wiki.ros.org/gazebo_ros_pkgs>, and also read the documentation at <http://gazebosim.org>, especially <http://gazebosim.org/tutorials?cat=connect_ros> Note: The launch files add the "models" subdirectory found here to the `GAZEBO_MODEL_PATH` and `GAZEBO_RESOURCE_PATH` environment variables before running Gazebo, so you can reference the example models there. If you want to keep your own separate models directory, either use `~/.gazebo/models`, or remove these `<env ... />` tags and set `GAZEBO_MODEL_PATH` and `GAZEBO_RESOURCE_PATH` in your shell. For example: export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/my_gazebo_models export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/my_gazebo_models You will need to structure your models directory as described in <http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot>. example-world.launch -------------------- An example roslaunch file that runs Gazebo with a simple empty world. Use one of the "spawn" launch files (see below) to add robots. Specify an alternate world via `world` argument or modify the example world to add or change any of the objects (models) in the world. Models can also be interactively added to a world from Gazebo: any models found in ~/.gazebo/models, or installed on the system, or available from the gazebosim.world website will be listed in the "Models" list on the left panel in the Gazbeo client GUi. example-pioneer3at-world.launch ------------------------------- An example roslaunch file that runs Gazebo with an empty world (unless you specify a `world` argument), then spawns a P3AT robot. (Currently no sensors.) You can then move the robot by publishing to the `/cmd_vel` topic, either: 1. Use rostopic 2. Use rviz: * Install `rviz_plugin_tutorials`: * For ROS jade: `sudo apt-get install ros-jade-rviz-plugin-tutorials` * For ROS indigo: `sudo apt-get install ros-indigo-rviz-plugin-tutorials` * Run rviz * Select Add Panel... from the Panels menu * Select the teleop panel * Enter `/cmd_vel` as the output topic of the teleop panel * Drag within the telop panel spawn.launch ------------ An example launch file for spawning simulated robots from urdf files in gazebo if already running. specify arguments with roslaunch: urdf Path to URDF file name Name of robot, only used an label in GUI In addition to creating the robot in Gazebo, a `joint_state_publisher` and `robot_state_publisher` are launched as well. e.g.: roslaunch spawn.launch urdf:=../description/urdf/pioneer-lx.urdf.xacro name:=pioneer-lx If not specified, defaults to pioneer3dx robot model. Other example launch files default to other robot models: * `spawn-pioneer3at.launch`: Spawn a Pioneer 3-AT * `spawn-pioneer3dx.launch`: Spawn a Pioneer 3-DX * `spawn-pioneer-lx.launch`: Spawn a Pioneer LX etc. example-pioneer3at-terrainworld.launch and example-pioneer3at-moonworld.launch ------------------------------------------------------------------------------ These roslaunch files run Gazebo in example environments defined by a heightmap. For the moon enivironment to work you may need to copy the `apollo11_landing_site_1000x1000` model to your ~/.gazebo/models directory, especially for older versions of Gazebo. Note that gravity is moon-scale in the moon environment, so behavior of the robot may be unusual. empty.world ----------- This is just a copy of Gazebo's default "empty" world, containing only a plain ground plane. simple-ramp.world ----------------- An example Gazebo world file. Includes a few objects defined either in external model SDF files (see models directory), or defined in the world file but referencing 3D mesh model files from the models database. You can specify this in the `world` argument to some of the launch files, or you can use `example-simple-ramp-world.launch`. (Use the "spawn" launch files described above to add robots to these worlds.)