1 概述

Gazebo 是一个 高保真度的机器人仿真平台，用于在虚拟环境中模拟机器人和其与环境的交互行为.

2 安装

不同版本的安装方式不一样, 这里以 jazzy 为例.

gazebo 主要有 classic 和 Harmonic 两个版本, 我们安装后者.

特性 Gazebo Classic Gazebo Harmonic（或 Ignition Gazebo 系列）
📦 名称 gazebo ignition-gazebo / gz-sim
🧱 架构 单体架构（monolithic） 模块化（plugin-based、库分离）
🎮 GUI 内嵌在 gazebo 中 独立 GUI（gz-gui）
🌐 网络通信 ROS（直接集成） ZeroMQ、Ignition Transport（更模块化）
⚙️ 插件 ROS plugin 直连 ROS 需使用 bridge（如 ros_ign_bridge 或 gz-ros2-control）
🧪 状态 维护模式（Gazebo 11 是最后一个版本） 正式接替，持续开发
📅 生命周期 Gazebo 11 维护到 2025 Harmonic 是长期支持版本（LTS）
🛠️ 构建系统 CMake 更现代的 CMake + modular libs 
1
2
3
4
5
6
7
8
9
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

# 慢的话可以换成清华源
# sudo sed -i 's|http://packages.ros.org|https://mirrors.tuna.tsinghua.edu.cn|g' /etc/apt/sources.list.d/ros2.list
sudo apt-get update
sudo apt-get install gz-harmonic
sudo apt install ros-jazzy-gz-*

3 使用

这里给出一个仿真的模板, 这是 gazebo harmonic 版本的.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
# gazebo_display.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, TimerAction
from launch.substitutions import LaunchConfiguration, Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    pkg_path = get_package_share_directory('my_robot_description')
    default_model_path = os.path.join(pkg_path, 'urdf', 'robot.xacro')
    default_world_path = os.path.join(pkg_path, 'worlds', 'nav_world.sdf')

    declare_model = DeclareLaunchArgument(
        name='model',
        default_value=default_model_path,
        description='Path to URDF/XACRO model'
    )

    robot_description_content = Command(['xacro ', LaunchConfiguration('model')])
    robot_description = ParameterValue(robot_description_content, value_type=str)

    gz_sim = ExecuteProcess(
        cmd=['gz', 'sim', '-r', '-v', '4', default_world_path],
        output='screen'
    )

    spawn_robot = TimerAction(
        period=2.0,
        actions=[
            Node(
                package='ros_gz_sim',
                executable='create',
                arguments=[
                    '-name', 'my_robot',
                    '-topic', 'robot_description',
                    '-x', '0', '-y', '0', '-z', '0.3'
                ],
                output='screen'
            )
        ]
    )

    return LaunchDescription([
        declare_model,

        Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            parameters=[{'robot_description': robot_description}],
            output='screen'
        ),

        gz_sim,
        spawn_robot,
    ])

gazebo harmonic 不能向 classic 那样直接建立一个场景, 这里给出一个示例场景.

我们放在项目的 wrolds 目录下, 并在 CMakeLists.txt 中加入.

1
2
3
install(DIRECTORY worlds
  DESTINATION share/${PROJECT_NAME}
)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
# nav_world.sdf
<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="nav_world">

    <!-- 基本光源 -->
    <light name="sun" type="directional">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <direction>-0.5 0.5 -1</direction>
    </light>

    <!-- 地面（自定义 plane，非 Fuel） -->
    <model name="ground_plane">
      <static>true</static>
      <link name="ground_link">
        <collision name="ground_collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>20 20</size>
            </plane>
          </geometry>
        </collision>
        <visual name="ground_visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>20 20</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.5 0.5 0.5 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
          </material>
        </visual>
      </link>
    </model>

    <!-- 墙体（前） -->
    <model name="wall_front">
      <pose>2 0 0.5 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box><size>0.2 4 1</size></box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box><size>0.2 4 1</size></box>
          </geometry>
          <material>
            <ambient>0.6 0.6 0.6 1</ambient>
          </material>
        </visual>
      </link>
    </model>

    <!-- 墙体（右） -->
    <model name="wall_right">
      <pose>0 2 0.5 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box><size>4 0.2 1</size></box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box><size>4 0.2 1</size></box>
          </geometry>
          <material>
            <ambient>0.4 0.8 0.4 1</ambient>
          </material>
        </visual>
      </link>
    </model>

    <!-- 障碍 -->
    <model name="box_obstacle">
      <pose>1 1 0.25 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box><size>0.5 0.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box><size>0.5 0.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>1 0.3 0.3 1</ambient>
          </material>
        </visual>
      </link>
    </model>

    <!-- 机器人出生点 -->
    <model name="robot_spawn">
      <pose>0 0 0.01 0 0 0</pose>
      <static>true</static>
      <link name="spawn_link">
        <visual name="dummy">
          <geometry><box><size>0.001 0.001 0.001</size></box></geometry>
        </visual>
      </link>
    </model>

  </world>
</sdf>

4 标签

4.1 摩擦力设置

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="mul_wheel" params="name parent xyz">

    <xacro:property name="wheel_mass" value="0.1"/>
    <xacro:property name="wheel_radius" value="0.03"/>

    <link name="${name}_link">
      <visual>
        <geometry>
          <sphere radius="${wheel_radius}"/>
        </geometry>
        <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
        <material name="gray">
          <color rgba="0.4 0.4 0.4 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <sphere radius="${wheel_radius}"/>
        </geometry>
        <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
      </collision>
      <inertial>
        <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
        <mass value="${wheel_mass}"/>
        <inertia ixx="1e-5" ixy="0.0" ixz="0.0"
                iyy="1e-5" iyz="0.0"
                izz="1e-5"/>
      </inertial>
    </link>

    <joint name="${name}_joint" type="fixed">
      <parent link="${parent}"/>
      <child link="${name}_link"/>
      <origin xyz="${xyz}" rpy="0 0 0"/>
    </joint>

    <!-- 新增 -->
    <gazebo reference="${name}_link">
      <mu1>0.01</mu1>
      <mu2>0.01</mu2>
      <material>Gazebo/Grey</material>
    </gazebo>
    <!-- 新增 -->
  </xacro:macro>


  <xacro:macro name="wheel" params="name parent xyz">
    <xacro:property name="wheel_mass" value="0.3"/>
    <xacro:property name="inertia_ixx" value="${0.5 * wheel_mass * wheel_radius * wheel_radius}"/>
    <xacro:property name="inertia_iyy" value="${0.5 * wheel_mass * wheel_radius * wheel_radius}"/>
    <xacro:property name="inertia_izz" value="${0.5 * wheel_mass * wheel_radius * wheel_radius}"/>

    <link name="${name}_link">
      <visual>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
        <origin xyz="0 0 ${wheel_radius}" rpy="1.5708 0 0"/>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
        <origin xyz="0 0 ${wheel_radius}" rpy="1.5708 0 0"/>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </collision>
      <inertial>
        <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
        <mass value="${wheel_mass}"/>
        <inertia
          ixx="${inertia_ixx}" ixy="0.0" ixz="0.0"
          iyy="${inertia_iyy}" iyz="0.0"
          izz="${inertia_izz}"/>
      </inertial>
    </link>

    <joint name="${name}_joint" type="continuous">
      <parent link="${parent}"/>
      <child link="${name}_link"/>
      <origin xyz="${xyz}" rpy="0 0 0"/>
      <axis xyz="0 1 0"/>
    </joint>

    <!-- 新增 -->
    <gazebo reference="${name}_link">
      <mu1>20.0</mu1>
      <mu2>20.0</mu2>
      <material>Gazebo/Black</material>
    </gazebo>
    <!-- 新增 -->

  </xacro:macro>

</robot>

5 插件

对于 harmonic 所有版本, 我们进行仿真之前都需要区对应的 world 文件里加入对应的 plugin.

5.1 两轮差速插件

示例, 需要使用修改参数即可.

alt text

参数名 示例值 单位 说明
left_joint left_wheel_joint - 左轮 joint 名称，需与 <joint> 中定义一致
right_joint right_wheel_joint - 右轮 joint 名称，需与 <joint> 中定义一致
wheel_separation 0.4 米（m） 左右轮中心间距，通常等于底盘宽度
wheel_diameter 0.2 米（m） 车轮直径
max_torque 20 牛·米（Nm） 每个轮子最大扭矩限制（控制电机强度）
max_accel 1.0 米/秒²（m/s²） 轮子的最大线性加速度
update_rate 30 Hz 插件刷新频率，越高越精细但计算负担也越大
odom_frame odom - 发布的里程计参考坐标系名称，通常为 odom
base_frame base_footprint - 机器人底部坐标系，通常绑定在底盘中心
publish_odom true / false 布尔 是否通过 ROS 发布 /odom 消息
publish_odom_tf true / false 布尔 是否广播 odom 到 base 的 TF 变换
publish_wheel_tf true / false 布尔 是否广播轮子 joint 的 TF（调试用）

下面作为一个模板示例.

项目 Gazebo Classic Gazebo Sim (Ignition)
插件文件 libgazebo_ros_diff_drive.so gz-sim-diff-drive-system
插件命名空间 ROS 接口（gazebo_ros） Gazebo 内置 C++ 系统（gz::sim::systems）
ROS 集成方式 gazebo_ros_pkgs 提供 ros_gz 桥接话题
适用 ROS 版本 ROS 1 / ROS 2 <= Humble ROS 2 Rolling / Jazzy / Iron

humble 版本.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- 差速控制插件宏，带参数可复用 -->
  <xacro:macro name="gazebo_control_plugin" params="
      left_joint right_joint
      wheel_separation wheel_diameter
      max_torque max_accel
      update_rate
      odom_frame base_frame
      publish_odom publish_odom_tf publish_wheel_tf
  ">

    <gazebo>
      <plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">

        <!-- ROS 命名空间与话题重映射 -->
        <ros>
          <namespace>/</namespace>
          <remapping>cmd_vel:=cmd_vel</remapping>
          <remapping>odom:=odom</remapping>
        </ros>

        <!-- 插件刷新频率 -->
        <update_rate>${update_rate}</update_rate>

        <!-- 车轮 joint 名 -->
        <left_joint>${left_joint}</left_joint>
        <right_joint>${right_joint}</right_joint>

        <!-- 差速运动学参数 -->
        <wheel_separation>${wheel_separation}</wheel_separation>
        <wheel_diameter>${wheel_diameter}</wheel_diameter>

        <!-- 扭矩/加速度限制 -->
        <max_wheel_torque>${max_torque}</max_wheel_torque>
        <max_wheel_acceleration>${max_accel}</max_wheel_acceleration>

        <!-- 里程计与 TF -->
        <publish_odom>${publish_odom}</publish_odom>
        <publish_odom_tf>${publish_odom_tf}</publish_odom_tf>
        <publish_wheel_tf>${publish_wheel_tf}</publish_wheel_tf>

        <odometry_frame>${odom_frame}</odometry_frame>
        <robot_base_frame>${base_frame}</robot_base_frame>
      </plugin>
    </gazebo>

  </xacro:macro>
</robot>

我们可以直接使用.

1
2
3
4
5
6
7
8
9
10
11
12
13
<xacro:gazebo_control_plugin
  left_joint="left_wheel_joint"
  right_joint="right_wheel_joint"
  wheel_separation="0.4"
  wheel_diameter="0.2"
  max_torque="15"
  max_accel="2.0"
  update_rate="50"
  odom_frame="odom"
  base_frame="base_footprint"
  publish_odom="true"
  publish_odom_tf="true"
  publish_wheel_tf="false"/>

harmonic 版本.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Gazebo Sim 差速驱动插件（gz::sim::systems::DiffDrive） -->
  <xacro:macro name="gazebo_control_plugin" params="
      left_joint right_joint
      wheel_separation wheel_radius
      max_accel
      odom_topic cmd_vel_topic
      odom_frame base_frame
      odom_pub_freq
  ">

    <gazebo>
      <plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">

        <!-- 车轮 joint 名 -->
        <left_joint>${left_joint}</left_joint>
        <right_joint>${right_joint}</right_joint>

        <!-- 运动学参数 -->
        <wheel_separation>${wheel_separation}</wheel_separation>
        <wheel_radius>${wheel_radius}</wheel_radius>
        <max_linear_acceleration>${max_accel}</max_linear_acceleration>

        <!-- ROS 接口（通过 ros_gz_bridge 使用） -->
        <topic>${cmd_vel_topic}</topic>
        <odom_topic>${odom_topic}</odom_topic>

        <!-- TF 设置 -->
        <frame_id>${odom_frame}</frame_id>
        <child_frame_id>${base_frame}</child_frame_id>

        <!-- 发布频率 -->
        <odom_publisher_frequency>${odom_pub_freq}</odom_publisher_frequency>
        <tf_topic>/tf</tf_topic>

      </plugin>

      <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
         <topic>joint_states</topic>
         <joint_name>${left_joint}</joint_name>
         <joint_name>${right_joint}</joint_name>
      </plugin>
    </gazebo>

  </xacro:macro>
</robot>
1
2
3
4
5
6
7
8
9
10
11
<xacro:gazebo_control_plugin
  left_joint="left_wheel_joint"
  right_joint="right_wheel_joint"
  wheel_separation="0.4"
  wheel_radius="0.1"
  max_accel="0.033"
  cmd_vel_topic="cmd_vel"
  odom_topic="odom"
  odom_frame="odom"
  base_frame="base_footprint"
  odom_pub_freq="30"/>

注意的是, 要想通过 ros2 topic 命令控制小车, 需要桥接 ros2 和 gazebo 的话题.

打开 Terminal 1 运行.

1
ros2 run ros_gz_bridge parameter_bridge /cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist

打开 Terminal 2 运行.

1
2
3
4
# 示例
ros2 topic pub -r 10 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.2}, angular: {z: 0.5}}'
# 或者
ros2 run teleop_twist_keyboard teleop_twist_keyboard

我们当然也可以使用 gazebo 原生的命令, 就不用桥接话题了.

1
2
3
gz topic -e -t /keyboard/keypress
# 或者
gz topic -t /cmd_vel -m gz.msgs.Twist -p '{linear: {x: 0.2}, angular: {z: 0.5}}'

5.2 激光雷达

classic 版本.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="gazebo_sensor_plugin">
        <gazebo reference="laser_link">
            <sensor name="laserscan" type="ray">
                <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
                    <ros>
                        <namespace>/</namespace>
                        <remapping>~/out:=scan</remapping>
                    </ros>
                    <output_type>sensor_msgs/LaserScan</output_type>
                    <frame_name>laser_link</frame_name>
                </plugin>
                <always_on>true</always_on>
                <visualize>true</visualize>
                <update_rate>5</update_rate>
                <pose>0 0 0 0 0 0</pose>
								<!-- 激光传感器配置 -->
                <ray>
                    <!-- 设置扫描范围 -->
                    <scan>
                        <horizontal>
                            <samples>360</samples>
                            <resolution>1.000000</resolution>
                            <min_angle>0.000000</min_angle>
                            <max_angle>6.280000</max_angle>
                        </horizontal>
                    </scan>
                    <!-- 设置扫描距离 -->
                    <range>
                        <min>0.120000</min>
                        <max>8.0</max>
                        <resolution>0.015000</resolution>
                    </range>
                    <!-- 设置噪声 -->
                    <noise>
                        <type>gaussian</type>
                        <mean>0.0</mean>
                        <stddev>0.01</stddev>
                    </noise>
                </ray>
            </sensor>
        </gazebo>
    </xacro:macro>
</robot>

harmonic 版本.

直接内嵌到 link 里.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:macro name="lidar_sensor" params="name parent xyz rpy">

    <joint name="${name}_joint" type="fixed">
      <parent link="${parent}"/>
      <child link="${name}_link"/>
      <origin xyz="${xyz}" rpy="${rpy}"/>
    </joint>

    <link name="${name}_link">
      <visual>
        <origin xyz="0 0 0"/>
        <geometry>
          <cylinder length="0.04" radius="0.05"/>
        </geometry>
        <material name="laser_material">
          <color rgba="0.13 0.13 0.13 1.0"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 0"/>
        <geometry>
          <cylinder length="0.04" radius="0.05"/>
        </geometry>
      </collision>
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="0.1"/>
        <inertia
          ixx="1e-5" ixy="0" ixz="0"
          iyy="1e-5" iyz="0"
          izz="1e-5"/>
      </inertial>
    </link>

    <gazebo reference="${name}_link">
      <sensor name="${name}_link" type="gpu_lidar">
        <pose> 0 0 0 0 0 0 </pose>
        <always_on>true</always_on>
        <visualize>true</visualize>
        <update_rate>10</update_rate>
        <topic>scan</topic>
        <gz_frame_id>${name}_link</gz_frame_id>
        <lidar>
          <scan>
            <horizontal>
              <samples>360</samples>
              <min_angle>-3.14</min_angle>
              <max_angle>3.14</max_angle>
            </horizontal>
            <vertical>
                <samples>1</samples>
                <resolution>0.01</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
            </vertical>
          </scan>
          <range>
            <min>0.3</min>
            <max>12</max>
          </range>
        </lidar>
      </sensor>
    </gazebo>

  </xacro:macro>

</robot>

5.3 IMU

harmonic 版本.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
<xacro:macro name="imu_sensor" params="
      parent_link 
      child_link 
      xyz 
      rpy 
      update_rate
      topic">

  <link name="${child_link}">
    <inertial>
      <mass>0.01</mass>
      <inertia>
        <ixx>0.0001</ixx><ixy>0</ixy><ixz>0</ixz>
        <iyy>0.0001</iyy><iyz>0</iyz><izz>0.0001</izz>
      </inertia>
    </inertial>
  </link>

  <joint name="${child_link}_fixed_joint" type="fixed">
    <parent link="${parent_link}"/>
    <child  link="${child_link}"/>
    <origin xyz="${xyz}" rpy="${rpy}"/>
  </joint>

  <gazebo reference="${child_link}">
    <sensor name="${child_link}" type="imu">
        <always_on>1</always_on>
        <update_rate>${update_rate}</update_rate>
        <visualize>true</visualize>
        <topic>${topic}</topic>
    </sensor>
  </gazebo>
</xacro:macro>

5.4 深度相机

harmonic 版本.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
<xacro:macro name="imu_sensor" params="
      name 
      parent 
      xyz 
      rpy">

  <link name="${name}_link">
    <visual>
        <origin xyz="${xyz}" rpy="${rpy}"/>
        <geometry>
            <box size="0.01 0.01 0.01"/>
        </geometry>
        <material name="${name}_material">
            <color rgba="0.63 0.63 0.63 1.0"/>
        </material>
    </visual>
    <inertial>
      <mass value="0.01"/>
      <inertia 
        ixx="0.0001" ixy="0.0" ixz="0.0"
        iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>

  <joint name="${name}_joint" type="fixed">
    <parent link="${parent}"/>
    <child  link="${name}_link"/>
    <origin xyz="${xyz}" rpy="${rpy}"/>
  </joint>

  <gazebo reference="${name}_link">
    <sensor name="${name}_link" type="imu">
        <topic>imu</topic>
        <update_rate>1</update_rate>
        <always_on>1</always_on>
        <visualize>true</visualize>
        <gz_frame_id>${name}_link</gz_frame_id>
    </sensor>
  </gazebo>
</xacro:macro>

<xacro:macro name="depth_camera" params=" 
    name 
    parent 
    xyz 
    rpy">

  <link name="${name}_link">
    <inertial>
      <mass value="0.05"/>
      <inertia
        ixx="0.0001" ixy="0.0" ixz="0.0"
        iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>

    <visual>
      <geometry>
        <box size="0.05 0.4 0.04"/>
      </geometry>
      <material name="CameraGray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>

    <collision>
      <geometry>
        <box size="0.05 0.4 0.04" />
      </geometry>
    </collision>
  </link>

  <joint name="${name}_joint" type="fixed">
    <parent link="${parent}"/>
    <child  link="${name}_link"/>
    <origin xyz="${xyz}" rpy="${rpy}"/>
  </joint>

  <gazebo reference="${name}_link">
    <sensor name="${name}_link" type="rgbd_camera">
        <always_on>true</always_on>
        <visualize>true</visualize>
        <update_rate>100</update_rate>
        <topic>camera</topic>
        <gz_frame_id>${name}_link</gz_frame_id>
        <camera name="${name}_link">
            <camera_info_topic>camera/camera_info</camera_info_topic>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
            <width>800</width>
            <height>600</height>
            <format>R8G8B8</format>
            </image>
            <clip>
            <near>0.1</near>
            <far>100</far>
            </clip>
            <noise>
            <type>gaussian</type>
            <mean>0</mean>
            <stddev>0.007</stddev>
            </noise>
        </camera>
    </sensor>
  </gazebo>

</xacro:macro>

alt text

6 常见桥接配置示例

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
# bridge.launch.py
from launch import LaunchDescription
from launch_ros.actions import Node
import os

from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
    config_path = os.path.join(
        get_package_share_directory('my_robot_description'),
        'config',
        'bridge_config.yaml'
    )

    return LaunchDescription([
        Node(
            package='ros_gz_bridge',
            executable='parameter_bridge',
            arguments=[
                "--ros-args",
                "-p",
                f"config_file:={config_path}",
            ],
            output='screen'
        )
    ])
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
# bridge_config.yaml
# gz topic published by the simulator core
- ros_topic_name: "clock"
  gz_topic_name: "clock"
  ros_type_name: "rosgraph_msgs/msg/Clock"
  gz_type_name: "gz.msgs.Clock"
  direction: GZ_TO_ROS

# gz topic published by JointState plugin
- ros_topic_name: "joint_states"
  gz_topic_name: "joint_states"
  ros_type_name: "sensor_msgs/msg/JointState"
  gz_type_name: "gz.msgs.Model"
  direction: GZ_TO_ROS

# gz topic published by DiffDrive plugin
- ros_topic_name: "odom"
  gz_topic_name: "odom"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.Odometry"
  direction: GZ_TO_ROS

# gz topic published by DiffDrive plugin
- ros_topic_name: "tf"
  gz_topic_name: "tf"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: GZ_TO_ROS

# # gz topic subscribed to by DiffDrive plugin
- ros_topic_name: "cmd_vel"
  gz_topic_name: "cmd_vel"
  ros_type_name: "geometry_msgs/msg/Twist"
  gz_type_name: "gz.msgs.Twist"
  direction: ROS_TO_GZ

# gz topic published by IMU plugin
- ros_topic_name: "imu"
  gz_topic_name: "imu"
  ros_type_name: "sensor_msgs/msg/Imu"
  gz_type_name: "gz.msgs.IMU"
  direction: GZ_TO_ROS

# gz topic published by Sensors plugin
- ros_topic_name: "scan"
  gz_topic_name: "scan"
  ros_type_name: "sensor_msgs/msg/LaserScan"
  gz_type_name: "gz.msgs.LaserScan"
  direction: GZ_TO_ROS

# gz topic published by Sensors plugin (Camera)
- ros_topic_name: "camera/camera_info"
  gz_topic_name: "camera/camera_info"
  ros_type_name: "sensor_msgs/msg/CameraInfo"
  gz_type_name: "gz.msgs.CameraInfo"
  direction: GZ_TO_ROS

- ros_topic_name: "/camera/image"
  gz_topic_name: "/camera/image"
  ros_type_name: "sensor_msgs/msg/Image"
  gz_type_name: "gz.msgs.Image"
  direction: GZ_TO_ROS

- topic_name: "/camera/depth_image"
  ros_type_name: "sensor_msgs/msg/Image"
  gz_type_name: "gz.msgs.Image"
  direction: GZ_TO_ROS

- topic_name: "/camera/points"
  ros_type_name: "sensor_msgs/msg/PointCloud2"
  gz_type_name: "gz.msgs.PointCloudPacked"
  direction: GZ_TO_ROS

7 References