Robot Modeling with Gazebo - Utagoe-robotics/Wiki GitHub Wiki
Gazebo Tutorials: http://gazebosim.org/tutorials
Unified Robot Description Format (URDF) is used in ROS to describe robot models. URDF describes the relation between components. On the other hand, Simulation Discription Format (SDF) is used in Gazebo because it describes not only objects but also simulation environment. The difference is explained in detail here. For above reasons, SDF is used in Gazebo.
http://gazebosim.org/tutorials?tut=ros_urdf
https://kenbell.hatenablog.com/entry/20161119/1479545879 http://wiki.ros.org/pysdf
<joint> tag reference is here.
(sdf version = 1.5)
| type | Description |
|---|---|
| revolute | a hinge joint that rotates on a single axis with either a fixed or continuous range of motion |
| gearbox | geared revolute joints |
| revolute2 | same as two revolute joints connected in series |
| prismatic | a sliding joint that slides along an axis with a limeted ranve specified by upper and lower limits |
| ball | a ball and socket joint |
| screw | a single degree of freedom joint with coupled sliding and rotational motion |
| universal | like a ball joint but constrains one degree of freedom |
| fixed | a joint with zero degrees of freedom that rigidly connects two links |
<?xml version='1.0'?>
<sdf version='1.4'>
<model name="diff_drive">
<static>false</static>
<link name='chassis'>
<pose>0 0 .1 0 0 0</pose>
<collision name='collision'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</visual>
<collision name='caster_collision'>
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='caster_visual'>
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
</model>
</sdf>Select the created model in the Insert tab.
http://gazebosim.org/tutorials/?tut=add_laser
model repository: https://github.com/osrf/gazebo_models
To add a sensor(e.g. Hokuyo Laser sensor) to the robot, add these lines before </model> tag.
<include>
<uri>model://hokuyo</uri>
<pose>0.2 0 0.2 0 0 0</pose>
</include>
<joint name="hokuyo_joint" type="fixed">
<child>hokuyo::link</child>
<parent>chassis</parent>
</joint>
http://gazebosim.org/tutorials?tut=model_editor&cat=model_editor_top http://gazebosim.org/tutorials?tut=guided_b3
https://bitbucket.org/osrf/gazebo_models/src/default/ https://github.com/osrf/gazebo_models