{"id":174,"date":"2026-04-17T17:43:02","date_gmt":"2026-04-17T09:43:02","guid":{"rendered":"https:\/\/374969782.xyz\/?p=174"},"modified":"2026-04-17T18:17:24","modified_gmt":"2026-04-17T10:17:24","slug":"ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%8813%ef%bc%89-gazebo%ef%bc%9a%e4%b8%89%e7%bb%b4%e7%89%a9%e7%90%86%e4%bb%bf%e7%9c%9f%e5%b9%b3%e5%8f%b0","status":"publish","type":"post","link":"https:\/\/374969782.xyz\/index.php\/2026\/04\/17\/ros2%e5%ad%a6%e4%b9%a0%e8%ae%b0%e5%bd%95%ef%bc%8813%ef%bc%89-gazebo%ef%bc%9a%e4%b8%89%e7%bb%b4%e7%89%a9%e7%90%86%e4%bb%bf%e7%9c%9f%e5%b9%b3%e5%8f%b0\/","title":{"rendered":"ROS2\u5b66\u4e60\u8bb0\u5f55\uff0813\uff09-Gazebo\uff1a\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0"},"content":{"rendered":"\n

Gazebo\u662fROS\u7cfb\u7edf\u4e2d\u6700\u4e3a\u5e38\u7528\u7684\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0<\/strong>\uff0c\u652f\u6301\u52a8\u529b\u5b66\u5f15\u64ce\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u56fe\u5f62\u6e32\u67d3\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u6a21\u62df\u673a\u5668\u4eba\u53ca\u5468\u8fb9\u73af\u5883\uff0c\u8fd8\u53ef\u4ee5\u52a0\u5165\u6469\u64e6\u529b\u3001\u5f39\u6027\u7cfb\u6570\u7b49\u7269\u7406\u5c5e\u6027\u3002<\/p>\n\n\n\n

\u7c7b\u4f3cGazebo\u8fd9\u6837\u7684\u4eff\u771f\u5e73\u53f0\uff0c\u53ef\u4ee5\u5e2e\u52a9\u6211\u4eec\u9a8c\u8bc1\u673a\u5668\u4eba\u7b97\u6cd5\u3001\u4f18\u5316\u673a\u5668\u4eba\u8bbe\u8ba1\u3001\u6d4b\u8bd5\u673a\u5668\u4eba\u573a\u666f\u5e94\u7528\uff0c\u4e3a\u673a\u5668\u4eba\u5f00\u53d1\u63d0\u4f9b\u66f4\u591a\u53ef\u80fd\u3002<\/p>\n\n\n\n

\u4e3a\u4e86\u786e\u4fdd\u7cfb\u7edf\u4e2d\u5df2\u7ecf\u5b8c\u6574\u5b89\u88c5\u4e86Gazebo\u76f8\u5173\u7684\u529f\u80fd\u5305\uff0c\u53ef\u4ee5\u901a\u8fc7\u8fd9\u6837\u4e00\u4e2a\u547d\u4ee4\uff0c\u7b80\u5355\u76f4\u63a5\u7684\u628a\u548cgazebo\u76f8\u5173\u7684\u5305\u90fd\u7ed9\u88c5\u4e0a\uff1a<\/p>\n\n\n\n

sudo apt install ros-humble-gazebo-*<\/code><\/pre>\n\n\n\n
\u661f\u53f7\u4e3a\u901a\u914d\u7b26\uff0c\u8868\u793a\u201cros-humble-gazebo-\u201d\u5f00\u5934\u7684\u6240\u6709\u76f8\u5173\u5305\u90fd\u5b89\u88c5\u3002<\/p>\n\n\n\n
\u901a\u8fc7\u8fd9\u53e5\u547d\u4ee4\u5c31\u53ef\u4ee5\u542f\u52a8\uff1a<\/p>\n\n\n\n
ros2 launch gazebo_ros gazebo.launch.py<\/code><\/pre>\n\n\n\n
\u542f\u52a8\u65f6\u53ef\u80fd\u9047\u5230\u65e0\u6cd5\u542f\u52a8\u7684\u95ee\u9898\uff0c\u6839\u636edeepseek\u8001\u5e08\u6240\u8a00\uff0c\u662f\u56fe\u5f62\u6e32\u67d3\u52a0\u8f7d\u5931\u8d25\uff0c\u5bfc\u81f4\u542f\u52a8\u5931\u8d25\u3002\u8fd9\u5e94\u8be5\u4e3b\u8981\u662f\u73af\u5883\u5185\u4e0d\u80fd\u76f4\u63a5\u68c0\u7d22\u5230\u4e00\u4e9bgazebo\u7684\u76f8\u5173\u6307\u4ee4\u5bfc\u81f4\u7684\u3002\u53ef\u4ee5\u8fd0\u884c\u4ee5\u4e0b\u8bed\u53e5\u5c06gazebo\u6dfb\u52a0\u5230\u7ec8\u7aef\u73af\u5883\uff1a<\/p>\n\n\n\n
source \/usr\/share\/gazebo\/setup.sh<\/code><\/pre>\n\n\n\n
\u7136\u540e\u5c31\u53ef\u4ee5\u6b63\u5e38\u542f\u52a8\u4e86\u3002<\/p>\n\n\n\n
\u4e3a\u65b9\u4fbf\u4e4b\u540e\u7684\u5904\u7406\uff0c\u53ef\u4ee5\u5c06\u8be5\u8bed\u53e5\u4e5f\u52a0\u5165\u5230home\uff08\u5373~\uff09\u76ee\u5f55\u4e0b\u7684.bashrc\u6587\u4ef6\u5185\u3002<\/p>\n\n\n\n
\u6b64\u5916\uff0c\u53ef\u4ee5\u5c06\u81ea\u5df1\u4e0b\u8f7d\u7684\u5916\u90e8\u6a21\u578b\u5bfc\u5165\u5230gazebo\u91cc\uff0c\u5177\u4f53\u8def\u5f84\u5728~\/.gazebo\/models<\/code>\u5185\uff0c\u5176\u4e2d.gazebo\u6587\u4ef6\u5939\u662f\u4e00\u4e2a\u9690\u85cf\u6587\u4ef6\u5939\uff0c\u9700\u8981\u6253\u5f00\u67e5\u770b\u9690\u85cf\u6587\u4ef6\u5939\u624d\u53ef\u4ee5\u770b\u5230\u3002\u5c06\u6a21\u578b\u6587\u4ef6\u79fb\u5165\u5bf9\u5e94\u5730\u65b9\u540e\uff0c\u5c31\u53ef\u4ee5\u5728gazebo\u9875\u9762\u5de6\u4fa7\u6807\u7b7e\u680f\u7684insert\u6807\u7b7e\u91cc\u627e\u5230\u5bf9\u5e94\u6a21\u578b\u4e86\u3002<\/p>\n\n\n\n
\u4eff\u771f\u4f7f\u7528XACRO\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u6a21\u3002\u8fd9\u662f\u4e00\u4e2a\u7c7b\u4f3c\u4e0a\u4e00\u671fURDF\u7684\u5efa\u6a21\u65b9\u5f0f\uff0c\u4f46\u66f4\u52a0\u4e13\u4e1a\u4e0e\u6df1\u5165\uff0c\u80fd\u66f4\u81ea\u7531\u5730\u5b9e\u73b0\u66f4\u591a\u529f\u80fd\u3002<\/p>\n\n\n\n
\u76f8\u5bf9URDF\uff0cXACRO\u589e\u52a0\u7684\u4f18\u70b9\u6709\uff1a<\/summary>\n
\u5b8f\u5b9a\u4e49<\/strong>\uff0c\u4e00\u4e2a\u5c0f\u8f66\u67094\u4e2a\u8f6e\u5b50\uff0c\u6bcf\u4e2a\u8f6e\u5b50\u90fd\u4e00\u6837\uff0c\u6211\u4eec\u5c31\u6ca1\u5fc5\u8981\u521b\u5efa4\u4e2a\u4e00\u6837\u7684link\uff0c\u50cf\u51fd\u6570\u5b9a\u4e49\u4e00\u6837\uff0c\u505a\u4e00\u4e2a\u53ef\u91cd\u590d\u4f7f\u7528\u7684\u6a21\u5757\u5c31\u53ef\u4ee5\u4e86\u3002<\/p>\n\n\n\n
\u6587\u4ef6\u5305\u542b<\/strong>\uff0c\u590d\u6742\u673a\u5668\u4eba\u7684\u6a21\u578b\u6587\u4ef6\u53ef\u80fd\u4f1a\u5f88\u957f\uff0c\u4e3a\u4e86\u5207\u5206\u4e0d\u540c\u7684\u6a21\u5757\uff0c\u6bd4\u5982\u5e95\u76d8\u3001\u4f20\u611f\u5668\uff0c\u6211\u4eec\u8fd8\u53ef\u4ee5\u628a\u4e0d\u540c\u6a21\u5757\u7684\u6a21\u578b\u653e\u7f6e\u5728\u4e0d\u540c\u7684\u6587\u4ef6\u4e2d\uff0c\u7136\u540e\u518d\u7528\u4e00\u4e2a\u603b\u4f53\u6587\u4ef6\u505a\u5305\u542b\u8c03\u7528\u3002<\/p>\n\n\n\n
\u53ef\u7f16\u7a0b\u63a5\u53e3<\/strong>\uff0c\u6bd4\u5982\u5728XACRO\u6a21\u578b\u6587\u4ef6\u4e2d\uff0c\u5b9a\u4e49\u4e00\u4e9b\u5e38\u91cf\uff0c\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u5c3a\u5bf8\uff0c\u5b9a\u4e49\u4e00\u4e9b\u53d8\u91cf\uff0c\u5728\u8c03\u7528\u5b8f\u5b9a\u4e49\u7684\u65f6\u5019\u4f20\u9012\u6570\u636e\uff0c\u8fd8\u53ef\u4ee5\u5728\u6a21\u578b\u4e2d\u505a\u6570\u636e\u8ba1\u7b97\uff0c\u751a\u81f3\u52a0\u5165\u6761\u4ef6\u8bed\u53e5\uff0c\u6bd4\u5982\u4f60\u7684\u673a\u5668\u4eba\u53ebA\uff0c\u5c31\u6709\u6444\u50cf\u5934\uff0c\u5982\u679c\u53ebB\uff0c\u5c31\u6ca1\u6709\u6444\u50cf\u5934\u3002<\/p>\n<\/details>\n\n\n\n
XACRO\u5efa\u6a21\u8fc7\u7a0b\u5c31\u50cf\u5199\u4ee3\u7801\u4e00\u6837\uff0c\u529f\u80fd\u66f4\u4e3a\u4e30\u5bcc\u3002<\/p>\n\n\n\n
\u9996\u5148\u7528\u8fd9\u53e5\u547d\u4ee4\u5b89\u88c5\u5fc5\u8981\u7684\u529f\u80fd\u5305\uff1a<\/p>\n\n\n\n
sudo apt install ros-humble-xacro<\/code><\/pre>\n\n\n\n
XACRO\u6587\u4ef6\u8bed\u6cd5\uff1a<\/summary>\n
\u53ef\u4ee5\u7528<xacro:property>\u6807\u7b7e\u7528\u6765\u5b9a\u4e49\u4e00\u4e9b\u5e38\u91cf\u3002\u6bd4\u5982\u8fd9\u6837\u5b9a\u4e49\u4e00\u4e2aPI\u7684\u5e38\u91cf\u540d\u4e3a\u201cM_PI\u201d\uff0c\u503c\u4e3a\u201c3.14159\u201d\uff0c\u5728\u8c03\u7528\u7684\u65f6\u5019\uff0c\u901a\u8fc7$\u52a0\u5927\u62ec\u53f7\uff0c\u91cc\u8fb9\u5c31\u53ef\u4ee5\u4f7f\u7528\u5b9a\u4e49\u597d\u7684\u5e38\u91cf\u4e86\uff1a<\/p>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\u5982\u679c\u9700\u8981\u505a\u6570\u5b66\u8ba1\u7b97\uff0c\u540c\u6837\u662f\u5728\u201c${}\u201d\u4e2d\u8fdb\u884c\uff0c\u6bd4\u5982\u67d0\u4e00\u4e2a\u4f4d\u7f6e\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u8fd9\u4e24\u4e2a\u5e38\u91cf\u505a\u8fd0\u7b97\u5f97\u5230\uff0c\u5c31\u52a0\u5165\u4e86\u52a0\u6cd5\u548c\u9664\u6cd5\u8fd0\u7b97\uff1a<\/p>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\u5c3d\u91cf\u90fd\u5199\u4f5c\u516c\u5f0f\u8ba1\u7b97\uff0c\u65e2\u65b9\u4fbf\u7406\u6e05\u601d\u8def\uff0c\u4ee5\u540e\u770b\u5230\u80fd\u60f3\u5230\u6570\u636e\u600e\u4e48\u6765\u7684\uff0c\u4e5f\u80fd\u5728\u4fee\u6539\u53c2\u6570\u65f6\u81ea\u52a8\u968f\u516c\u5f0f\u66f4\u65b0\u4e00\u4e9b\u5173\u952e\u6570\u636e\u3002<\/p>\n\n\n\n
xacro\u7684\u5b8f\u5b9a\u4e49\u529f\u80fd\uff0c\u5176\u5b9a\u4e49\u65b9\u5f0f\u662f\u901a\u8fc7\u8fd9\u4e2a<xacro:macro>\u6807\u7b7e\u63cf\u8ff0\u7684\uff0c\u8fd8\u53ef\u4ee5\u50cf\u51fd\u6570\u4e00\u6837\uff0c\u8bbe\u7f6e\u91cc\u8fb9\u4f1a\u7528\u5230\u7684\u4e00\u4e9b\u53c2\u6570\uff0c\u6bd4\u5982\u8fd9\u91cc\u7684A\u3001B\u3001C\u3002<\/p>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\u5f53\u9700\u8981\u4f7f\u7528\u8fd9\u4e2a\u5b8f\u7684\u65f6\u5019\uff0c\u5c31\u53ef\u4ee5\u50cf\u8fd9\u6837\uff0c\u901a\u8fc7\u5b8f\u540d\u5b57\u7684\u6807\u7b7e\uff0c\u6765\u8c03\u7528\uff0c\u540c\u65f6\u8981\u8bb0\u5f97\u628a\u51e0\u4e2a\u53c2\u6570\u8bbe\u7f6e\u597d\u3002<\/p>\n\n\n\n
\uff08\u56fe\u7247\u6709\u70b9\u5c0f\u8bef\u5dee\uff0c\u5176\u5b9e\u8c03\u7528\u5e94\u8be5\u662f<xacro:name \u53c2\u6570\u4f20\u9012\/>\u8fd9\u6837\u5b50\uff0c\u9700\u8981\u5728\u540d\u5b57\u524d\u52a0\u4e0axacro\u3002\uff09<\/p>\n\n\n\n
\u8f66\u8f6e\u5b8f\u5b9a\u4e49\u548c\u8c03\u7528\u793a\u4f8b\uff1a<\/p>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\u7136\u540e\u662f\u6587\u4ef6\u5305\u542b\uff0c\u548cc\/c++\u4e2d\u7684include\u4e00\u6837\uff0c\u5305\u542b\u5176\u4ed6\u6587\u4ef6\u540e\u5c31\u53ef\u4ee5\u4f7f\u7528\u5176\u4ed6\u6587\u4ef6\u5b9a\u4e49\u7684\u5b8f\u5b9a\u4e49\u7b49\u4e86\uff0c\u8fd9\u4e5f\u5c5e\u4e8e\u4e00\u79cd\u5b8f\u5b9a\u4e49\u7684\u5d4c\u5957\u3002<\/p>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
<\/p>\n\n\n\n
<\/p>\n<\/details>\n\n\n\n
\u4eff\u771f\u8fd8\u9700\u8981\u4e00\u4e9b\u5fc5\u5907\u7684\u6a21\u5757\u548c\u53c2\u6570 \u3002<\/p>\n\n\n\n
    \n
  • \u5b8c\u5584\u7269\u7406\u53c2\u6570<\/strong>:\u56e0\u4e3aGazebo\u662f\u7269\u7406\u4eff\u771f\u5e73\u53f0\uff0c\u5fc5\u8981\u7684\u7269\u7406\u53c2\u6570\u662f\u4e00\u5b9a\u9700\u8981\u7684\uff0c\u6240\u4ee5\u786e\u4fdd\u6bcf\u4e00\u4e2alink\u90fd\u6709\u60ef\u6027\u53c2\u6570\u548c\u78b0\u649e\u5c5e\u6027\u3002<\/li>\n\n\n\n
  • \u6dfb\u52a0Gazebo\u6807\u7b7e<\/strong>\uff1a\u4e3b\u8981\u662f\u4e3a\u4e86\u53ef\u4ee5\u5728gazebo\u4e2d\u6e32\u67d3\u6bcf\u4e00\u4e2alink\u7684\u989c\u8272\uff0c\u56e0\u4e3aURDF\u4e2d\u7684\u989c\u8272\u7cfb\u7edf\u548cgazebo\u4e2d\u7684\u4e0d\u540c\uff0c\u6240\u4ee5\u5f97\u505a\u4e00\u6b65\u8fd9\u6837\u7684\u5197\u4f59\u914d\u7f6e\u3002<\/li>\n\n\n\n
  • \u914d\u7f6e\u4f20\u52a8\u88c5\u7f6e<\/strong>\uff1a\u7ed9\u8fd0\u52a8\u7684joint\u914d\u7f6e\u4f20\u52a8\u88c5\u7f6e\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u4eff\u771f\u4e86\u4e00\u4e2a\u7535\u673a\u3002<\/li>\n\n\n\n
  • \u6dfb\u52a0\u63a7\u5236\u5668\u63d2\u4ef6<\/strong>\uff1a\u6dfb\u52a0\u4e00\u4e2agazebo\u7684\u63a7\u5236\u5668\u63d2\u4ef6\uff0c\u5c0f\u8f66\u662f\u5dee\u901f\u63a7\u5236\u7684\uff0c\u90a3\u5c31\u6dfb\u52a0\u5dee\u901f\u63a7\u5236\u5668\u63d2\u4ef6\uff0c\u8fd9\u6837\u5728\u4e0d\u540c\u89d2\u5ea6\u4e0b\u4e24\u4e2a\u7535\u673a\u7684\u901f\u5ea6\u5206\u914d\uff0c\u5c31\u53ef\u4ee5\u4ea4\u7ed9\u63a7\u5236\u5668\u63d2\u4ef6\u6765\u5b8c\u6210\u4e86\u3002<\/li>\n<\/ul>\n\n\n\n
    <\/p>\n\n\n\n
    <\/p>\n\n\n\n
    \u5728launch\u4e2d\u542f\u52a8gazebo\u5e76\u52a0\u8f7d\u6a21\u578b\u7684\u4e00\u4e2a\u793a\u4f8b\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n
    import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\n\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\n\nfrom launch_ros.actions import Node\n\n\ndef generate_launch_description():\n\n\n    # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled\n    # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!\n\n    package_name='learning_gazebo' #<--- CHANGE ME\n    world_file_path = 'worlds\/neighborhood.world'\n    \n    pkg_path = os.path.join(get_package_share_directory(package_name))\n    world_path = os.path.join(pkg_path, world_file_path)  \n    \n    # Pose where we want to spawn the robot\n    spawn_x_val = '0.0'\n    spawn_y_val = '0.0'\n    spawn_z_val = '0.0'\n    spawn_yaw_val = '0.0'\n  \n    mbot = IncludeLaunchDescription( # \u914d\u7f6e\u673a\u5668\u4eba\u6a21\u578b\n                PythonLaunchDescriptionSource([os.path.join(\n                    get_package_share_directory(package_name),'launch','mbot.launch.py' # \u8c03\u7528\u53e6\u4e00\u4e2alaunch\u6587\u4ef6\n                )]), launch_arguments={'use_sim_time': 'true', 'world':world_path}.items()\n    )\n\n    # Include the Gazebo launch file, provided by the gazebo_ros package\n    gazebo = IncludeLaunchDescription( # \u542f\u52a8gazebo\uff0c\u4f46\u662f\u4e00\u4e2a\u7a7a\u7684\u3001\u6ca1\u6709\u4efb\u4f55\u6a21\u578b\u7684gazebo\n                PythonLaunchDescriptionSource([os.path.join(\n                    get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),\n             )\n\n    # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.\n    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', # \u542f\u52a8\u4e00\u4e2a\u52a0\u8f7d\u6a21\u578b\u7684\u8282\u70b9\n                        arguments=['-topic', 'robot_description', # \u8868\u793a\u673a\u5668\u4eba\u6a21\u578b\u6587\u4ef6\u7684\u7ba1\u7406\u8def\u5f84\n                                   '-entity', 'mbot', # \u52a0\u8f7d\u540e\u673a\u5668\u4eba\u7684\u540d\u5b57\n                                   '-x', spawn_x_val, # \u653e\u51fa\u673a\u5668\u4eba\u7684\u4f4d\u7f6e\n                                   '-y', spawn_y_val,\n                                   '-z', spawn_z_val,\n                                   '-Y', spawn_yaw_val],\n                        output='screen')\n\n\n\n    # Launch them all!\n    return LaunchDescription([\n        mbot,\n        gazebo,\n        spawn_entity,\n    ])\n<\/code><\/pre>\n\n\n\n
    \u914d\u7f6e\u673a\u5668\u4eba\u6a21\u578b\u65f6\uff0c\u542f\u52a8\u4e86\u53e6\u4e00\u4e2alaunch\u6587\u4ef6\uff0c\u5176\u5185\u5bb9\u5982\u4e0b\uff1a<\/p>\n\n\n\n
    import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.substitutions import LaunchConfiguration\nfrom launch.actions import DeclareLaunchArgument\nfrom launch_ros.actions import Node\n\nimport xacro\n\n\ndef generate_launch_description():\n\n    # Check if we're told to use sim time\n    use_sim_time = LaunchConfiguration('use_sim_time')\n\n    # Process the URDF file\n    pkg_path = os.path.join(get_package_share_directory('learning_gazebo'))\n    xacro_file = os.path.join(pkg_path,'urdf','mbot_gazebo.xacro') # \u6307\u5b9a\u6a21\u578b\u8def\u5f84\n    robot_description_config = xacro.process_file(xacro_file)\n    \n    # Create a robot_state_publisher node\n    params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time} # \u521b\u5efa\u4e00\u4e2a\u53c2\u6570\u4fdd\u5b58\u6a21\u578b\u7684\u5730\u5740\n    node_robot_state_publisher = Node( # \u8fd0\u884c\u4e00\u4e2a\u8282\u70b9\n        package='robot_state_publisher', # \u4e00\u4e2a\u5e38\u7528\u4e8e\u7ef4\u62a4\u673a\u5668\u4eba\u5173\u7cfb\u7684\u5305\n        executable='robot_state_publisher', # \u4e00\u4e2a\u5e38\u7528\u4e8e\u7ef4\u62a4\u673a\u5668\u4eba\u5173\u7cfb\u7684\u8282\u70b9\n        output='screen',\n        parameters=[params]\n    )\n\n\n    # Launch!\n    return LaunchDescription([ # \u542f\u52a8launch\u6587\u4ef6\n        DeclareLaunchArgument( # \u8bbe\u7f6e\u4eff\u771f\u53c2\u6570\n            'use_sim_time', # \u63a7\u5236\u662f\u5426\u4f7f\u7528\u4eff\u771f\u65f6\u95f4\u7684\u4e00\u4e2a\u53c2\u6570\n            default_value='false', # \u4e0d\u4f7f\u7528\n            description='Use sim time if true'),\n\n        node_robot_state_publisher # \u542f\u52a8\u4e0a\u9762\u5b9a\u4e49\u7684node_robot_state_publisher\u8282\u70b9\n    ])\n<\/code><\/pre>\n\n\n\n
    \u542f\u52a8\u8be5\u7a0b\u5e8f\u53ef\u4ee5\u5206\u522b\u5728\u4e24\u4e2a\u547d\u4ee4\u884c\u7a97\u53e3\u5206\u522b\u7528\u4ee5\u4e0b\u4e24\u6761\u8bed\u53e5\uff1a<\/p>\n\n\n\n
    ros2 launch learning_gazebo load_urdf_into_gazebo.launch.py\nros2 run teleop_twist_keyboard teleop_twist_keyboard <\/code><\/pre>\n\n\n\n
    \u7b2c\u4e00\u4e2a\u6307\u4ee4\u542f\u52a8\u5e76\u6e32\u67d3\u4eff\u771f\u754c\u9762\uff0c\u7b2c\u4e8c\u4e2a\u6307\u4ee4\u542f\u52a8\u6309\u952e\u63a7\u5236\u3002<\/p>\n\n\n\n
    \u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7b2c\u4e00\u4e2a\u6307\u4ee4\u5185\u7528\u5230\u4e86\u8bb8\u591a\u5b98\u65b9\u6a21\u578b\uff0cgazebo\u4f1a\u81ea\u52a8\u8054\u7f51\u4e0b\u8f7d\u5e76\u5b58\u653e\u5728\u524d\u6587\u63d0\u5230\u7684~\/.gazebo\/models<\/code>\u5730\u5740\u3002\u4e0d\u8fc7\u7531\u4e8e\u5b98\u7f51\u5730\u5740\u5728\u56fd\u5916\uff0c\u865a\u62df\u673a\u5185\u76f4\u63a5\u81ea\u884c\u8fde\u63a5\u5e76\u4e0b\u8f7d\u5927\u6982\u7387\u4f1a\u5931\u8d25\uff0c\u5bfc\u81f4\u542f\u52a8\u5931\u8d25\uff0c\u6b64\u65f6\u9700\u8981\u81ea\u5df1\u4ece\u522b\u5904\u4e0b\u8f7d\u5e76\u653e\u7f6e\u5728\u5bf9\u5e94\u6587\u4ef6\u5939\u4e0b\u3002<\/p>\n\n\n\n
    \u8fd9\u8fb9\u4f7f\u7528\u7684\u662f\u7269\u7406\u673a\u4e0b\u8f7d\uff0c\u5e76\u901a\u8fc7finalshell\u4f20\u8f93\u7ed9\u865a\u62df\u673a\u3002<\/p>\n\n\n\n
    \u5728\u7269\u7406\u673a\u7684\u547d\u4ee4\u884c\u7a97\u53e3\u8fd0\u884c\uff1a<\/p>\n\n\n\n
    git clone https:\/\/github.com\/osrf\/gazebo_models.git<\/code><\/pre>\n\n\n\n
    \u5373\u53ef\u5b9e\u73b0\u6a21\u578b\u7684\u4e0b\u8f7d\u3002\u901a\u8fc7finalshell\u5c06\u6a21\u578b\u6587\u4ef6\u4f20\u8f93\u81f3\u6307\u5b9a\u5730\u70b9\u540e\uff0c\u4e0a\u9762\u7684\u547d\u4ee4\u5c31\u53ef\u4ee5\u6b63\u5e38\u8fd0\u884c\u4e86\u3002<\/p>\n\n\n\n
    <\/p>\n\n\n\n
    <\/p>\n\n\n\n
    \u968f\u7740\u6280\u672f\u7684\u8fdb\u6b65\uff0cGazebo\u4eff\u771f\u5e73\u53f0\u4e5f\u5728\u4e0d\u65ad\u8fed\u4ee3\uff0c\u65b0\u4e00\u4ee3\u7684Gazebo\u547d\u540d\u4e3aIgnition<\/strong>\uff0c\u4ece\u6e32\u67d3\u6548\u679c\u548c\u4eff\u771f\u6d41\u7545\u5ea6\u4e0a\u90fd\u6709\u8f83\u5927\u7684\u53d8\u5316\u3002<\/p>\n\n\n\n
    \u53ef\u4ee5\u5728\u547d\u4ee4\u884c\u7a97\u53e3\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u4e0b\u8f7d\uff1a<\/p>\n\n\n\n
    sudo apt install ros-humble-ros-ign <\/code><\/pre>\n\n\n\n
    \u7136\u540e\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u6253\u5f00\uff1a<\/p>\n\n\n\n
    ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py<\/code><\/pre>\n\n\n\n
    <\/p>\n","protected":false},"excerpt":{"rendered":"
    Gazebo\u662fROS\u7cfb\u7edf\u4e2d\u6700\u4e3a\u5e38\u7528\u7684\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0\uff0c\u652f\u6301\u52a8\u529b\u5b66\u5f15\u64ce\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u56fe\u5f62\u6e32\u67d3\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u6a21\u62df\u673a […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[],"class_list":["post-174","post","type-post","status-publish","format-standard","hentry","category-ros2"],"_links":{"self":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/174","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/comments?post=174"}],"version-history":[{"count":5,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/174\/revisions"}],"predecessor-version":[{"id":187,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/posts\/174\/revisions\/187"}],"wp:attachment":[{"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/media?parent=174"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/categories?post=174"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/374969782.xyz\/index.php\/wp-json\/wp\/v2\/tags?post=174"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}