walking机器人仿真教程-加载不同的gazebo世界

walking机器人仿真教程-加载不同的gazebo世界

说明：

　- 介绍如何启动整理的gazebo世界 　- 这些针对不同场景的gazebo世界适合不同的测试需要

相关设备：

• walking机器人套件：采购地址

步骤：

• 运行前加载

. /usr/share/gazebo/setup.bash

• 医院场景

ros2 launch walking_application hospital_world_v1.launch.py

• 效果图:

• 草坪场景

ros2 launch walking_application lawn_world_straightline.launch.py

• 效果图:

• 仓库场景

ros2 launch walking_application warehouse_world_preferred_lanes.launch.py

• 效果图:

• 房间场景

ros2 launch walking_application house_world_inspection.launch.py

• 效果图:

• 办公室场景

ros2 launch walking_application office_world_v1.launch.py

• 效果图:

• 咖啡店场景

ros2 launch walking_application cafe_world_turtlebot_waffle.launch.py

• 效果图:

• 小镇场景

ros2 launch walking_application car_world_v1.launch.py

• 效果图:

• 农田场景

ros2 launch walking_application farm_world_v2.launch.py

• 效果图:

• 工厂场景

ros2 launch walking_application factory_world_v1.launch.py

• 效果图:

• 仓库存货场景

ros2 launch walking_application  inventory_world_v1.launch.py

• 效果图:

• 小区场景

ros2 launch walking_application  neighborhood_world_v2.launch.py

• 效果图:

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=468469210&bvid=BV1u5411177i&cid=582828361&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>

参考:

• https://github.com/mlherd/Dataset-of-Gazebo-Worlds-Models-and-Maps

• https://github.com/PacktPublishing/ROS-Robotics-Projects-SecondEdition

• https://github.com/webvenky/qr_scanning_drones

• https://github.com/aws-robotics/aws-robomaker-small-house-world

• https://github.com/aws-robotics

• https://github.com/aws-robotics/aws-robomaker-hospital-world

• https://github.com/PRBonn/agribot

• https://github.com/wh200720041/warehouse_simulation_toolkit

• https://github.com/shreyasgokhale/CustomRobots/tree/multirobot-testing

• https://github.com/JdeRobot/CustomRobots/tree/melodic-devel/car_junction

• https://automaticaddison.com/useful-world-files-for-gazebo-and-ros-2-simulations/