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    请问如何利用Gazebo进行仿真

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    • MrTk
      MrTk last edited by

      在仓库中找到了xiaoqiang_urdf的相关文件,找到了gazebo.launch,但是启动后不知道该利用哪个topic来控制仿真运动和建图,诚恳请教指路

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      • weijiz
        weijiz last edited by

        这个是sim机器的启动文件,启动后话题和正常机器人一样
        https://git.bwbot.org/publish/startup/-/blob/xq4-noetic-sim/launch/startup_sim.launch

        MrTk 2 Replies Last reply Reply Quote 0
        • MrTk
          MrTk @weijiz last edited by

          @weijiz 我的系统是xq4-noetic,用的小强官方那个noetic默认镜像,请问大致步骤是这样嘛,如果有不对的地方希望提供意见,因为目前如下操作的话office.world里模拟出来的小车无法用/cmd_vel来控制,rviz里各项topic的订阅结果也不对:

          1. 换掉startup服务,把startup.launch换成startup_sim.launch
          rosrun robot_upstart install startup/launch/startup_sim.launch
          
          1. 然后更改xiaoqiang_urdf的分支为xq4-sim,这样xiaoqiang_urdf/robots里才会有小强的xacro文件
          cd ~/Documents/ros/src/xiaoqiang_urdf
          git checkout xq4-sim
          cd ~/Documents/ros
          catkin_make
          
          1. 最后执行gazebo仿真
          roslaunch xiaoqiang_urdf gazebo.launch
          
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          • MrTk
            MrTk @weijiz last edited by

            @weijiz 刚才突然试出来了,直接执行这个就会调用gazebo,但是遥控的时候小车总是漂移,比如按右键右转,模拟出来的小强就会突然猛左转一下再慢慢右转

            roslaunch startup startup_sim.launch
            
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