Gazebo-插件-模型插件

机器 > Gazebo 学习笔记 Gazebo Robo

发布时间 : 2023-05-02 10:00

字数:277 阅读 :

https://classic.gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin
访问模型的物理属性及其元素（links, joints, collision objects…）

$ cd ~/gazebo_plugin_tutorial
$ gedit model_push.cc

#include <functional>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <ignition/math/Vector3.hh>

namespace gazebo
{
    class ModelPush : public ModelPlugin
    {
        // Pointer to the model
        private: physics::ModelPtr model;
        // Pointer to the update event connection
        private: event::ConnectionPtr updateConnection;

        public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
        {
            // Store the pointer to the model
            this->model = _parent;

            // Listen to the update event. This event is broadcast every
            // simulation iteration.
            this->updateConnection = event::Events::ConnectW$ cd ~/gazebo_plugin_tutorial/
$ gzserver -u model_push.worldorldUpdateBegin(
                std::bind(&ModelPush::OnUpdate, this));
        }

        // Called by the world update start event
        public: void OnUpdate()
        {
            // Apply a small linear velocity to the model.
            this->model->SetLinearVel(ignition::math::Vector3d(.3, 0, 0));
        }
    };

    // Register thie plugin with the simulator
    GZ_REGISTER_MODEL_PLUGIN(ModelPush)
}

在CMakeLists.txt中增加以下行，并编译：

add_library(model_push SHARED model_push.cc)
target_link_libraries(model_push ${GAZEBO_LIBRARIES})

在一个model的sdf文件中指定使用此plugin：

<model name="box">
    <!--   ... -->
    <plugin name="model_push" filename="gazebo_plugin_tutorial/build/libmodel_push.so"/>
</model>

运行server和client，播放可以看到模型移动：

$ cd ~/gazebo_plugin_tutorial/
# -u 以暂停状态启动server
$ gzserver -u model_push.world

# 另一个终端
gzclient

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