用SDF新建gazebo模型 - tychien/gazebo_tutorial_zh GitHub Wiki
$ cd $HOME/catkin_ws/src/my_simulations
$ mkdir models
$ cd models/
$ mkdir my1stmodel
$ touch model.config model.sdf$ vim model.config
<?xml version="1.0"?>
<model>
<name>My 1st model</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Your name</name>
<email>[email protected]</email>
</author>
<description>
A simple gazebo model for the 1st time.
</description>
</model>$ vim model.sdf
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="my_1st_model">
<static>false</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>3 2 5</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>3 2 5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>編輯empty_world，新增一個model
<include>
<uri>model://my1stmodel</uri>
<pose>0 0 5 0 0 0</pose>
</include>