环境 ROS2-IRON Gazebo11

1. 如何获取Gazebo中的机器人、世界模型的状态信息

找到gazebo中你是用的世界模型，在<world>...<world>标签下设置libgazebo_ros_state.so插件。默认获取全部模型。（指定想要的模型不知道为啥设置参数不生效）

  • 配置完后启动gazebo，就可以在ros中看到/gazebo/model_states和/gazebo/link_states话题了。里面包含Pose和Velocity。
  • 注意一定要在world下添加，在机器人下不生效。
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<?xml version="1.0"?>
<sdf version="1.6">
  <world name="default">

  <plugin name="gazebo_ros_init" filename="libgazebo_ros_init.so"/>
  <plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
    <ros>
      <namespace>/gazebo</namespace>
    </ros>
    <update_rate>50.0</update_rate>
    <!-- <model_name>robot_name</model_name> -->
  </plugin>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <scene>
      <shadows>false</shadows>
    </scene>

    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>

    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <iters>150</iters>
          <precon_iters>0</precon_iters>
          <sor>1.400000</sor>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0.00001</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </ode>
    </physics>

    <model name="world_house">
      <static>1</static>
      <include>
        <uri>model://world_house</uri>
      </include>
    </model>
     
    <include>
      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
      <uri>model://robot</uri>
    </include>

  </world>
</sdf>