- .sdf 文件
详细代码:
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="cafe">
<static>true</static>
<link name="link">
<collision name="main_floor">
<pose>-0.4 -0.75 0.0948 0 0 0</pose>
<geometry>
<box>
<size>9.38 22.63 0.19</size>
</box>
</geometry>
</collision>
<collision name="wall_1">
<pose>-5.03 0.53 1.415 0 0 0</pose>
<geometry>
<box>
<size>.12 23.16 2.83</size>
</box>
</geometry>
</collision>
<collision name="wall_2">
<pose>4.24 -.31 1.415 0 0 0</pose>
<geometry>
<box>
<size>.12 21.48 2.83</size>
</box>
</geometry>
</collision>
<collision name="wall_3">
<pose>-1.48 7.43 1.415 0 0 0</pose>
<geometry>
<box>
<size>7.2 0.12 2.83</size>
</box>
</geometry>
</collision>
<collision name="wall_4">
<pose>2.09 8.9 1.435 0 0 0</pose>
<geometry>
<box>
<size>0.12 3.05 2.87</size>
</box>
</geometry>
</collision>
<collision name="wall_5">
<pose>3.155 10.4 1.435 0 0 0</pose>
<geometry>
<box>
<size>2.13 0.12 2.87</size>
</box>
</geometry>
</collision>
<collision name="wall_6">
<pose>0.615 -10.98 1.415 0 0 0</pose>
<geometry>
<box>
<size>7.36 0.15 2.83</size>
</box>
</geometry>
</collision>
<collision name="wall_7">
<pose>-4.62 -10.98 1.415 0 0 0</pose>
<geometry>
<box>
<size>0.93 0.15 2.83</size>
</box>
</geometry>
</collision>
<collision name="wall_8">
<pose>-3.61 -10.98 2.69 0 0 0</pose>
<geometry>
<box>
<size>1.09 0.15 0.28</size>
</box>
</geometry>
</collision>
<collision name="coke">
<pose>-4.385 0.26 .95 0 0 0</pose>
<geometry>
<box>
<size>1.03 1.03 1.52</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cafe/meshes/cafe.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
2.与sdf文件相对应的.config文件
<?xml version="1.0"?>
<model>
<name>Cafe</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A model of a cafe.
</description>
</model>
3. .world 文件
详细代码:
<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>354 199000000</sim_time>
<real_time>149 289868101</real_time>
<wall_time>1502810013 639778766</wall_time>
<iterations>148155</iterations>
<model name='Dumpster'>
<pose frame=''>-5.85238 1.10749 0.000917 0 -2e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-5.85238 1.10749 0.000917 0 -2e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0.006033 0 -5e-06 0 -0.280679 4e-06</acceleration>
<wrench>-0.006033 0 -5e-06 0 -0 0</wrench>
</link>
</model>
<model name='Dumpster_0'>
<pose frame=''>5.82953 1.13428 0.000917 0 -2e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>5.82953 1.13428 0.000917 0 -2e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0.006033 0 -5e-06 0 -0.280679 4e-06</acceleration>
<wrench>-0.006033 0 -5e-06 0 -0 0</wrench>
</link>
</model>
<model name='Dumpster_1'>
<pose frame=''>-2.10368 -6.35586 0.000917 0 -2e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-2.10368 -6.35586 0.000917 0 -2e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0.006033 0 -9e-06 0 -0.280676 4e-06</acceleration>
<wrench>-0.006033 0 -9e-06 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='room_0'>
<pose frame=''>-0.064136 -2.60385 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='Wall_0'>
<pose frame=''>-0.091464 1.82115 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_12'>
<pose frame=''>-3.56322 -2.19959 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_13'>
<pose frame=''>-1.38822 -3.12459 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_2'>
<pose frame=''>6.86086 -2.60385 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_3'>
<pose frame=''>-0.064136 -7.02885 0 0 -0 3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_4'>
<pose frame=''>-6.98914 -2.60385 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_6'>
<pose frame=''>-0.013213 -1.27459 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_7'>
<pose frame=''>3.53678 -2.82459 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_8'>
<pose frame=''>2.23678 -4.37459 0 0 -0 3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_9'>
<pose frame=''>0.936784 -3.82459 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>1.08997 -8.1862 33.1928 0 1.4698 1.59615</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<model name='room_0'>
<pose frame=''>-0.064136 -2.60385 0 0 -0 0</pose>
<link name='Wall_0'>
<collision name='Wall_0_Collision'>
<geometry>
<box>
<size>13.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>13.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-0.027328 4.425 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_12'>
<collision name='Wall_12_Collision'>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_12_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-3.49908 0.404259 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_13'>
<collision name='Wall_13_Collision'>
<geometry>
<box>
<size>4.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_13_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.32408 -0.520741 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_2'>
<collision name='Wall_2_Collision'>
<geometry>
<box>
<size>9 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_2_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>6.925 0 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_3'>
<collision name='Wall_3_Collision'>
<geometry>
<box>
<size>14 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_3_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>14 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0 -4.425 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_4'>
<collision name='Wall_4_Collision'>
<geometry>
<box>
<size>9 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_4_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-6.925 0 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_6'>
<collision name='Wall_6_Collision'>
<geometry>
<box>
<size>7.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_6_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>7.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.050923 1.32926 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_7'>
<collision name='Wall_7_Collision'>
<geometry>
<box>
<size>3.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_7_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>3.60092 -0.220741 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_8'>
<collision name='Wall_8_Collision'>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_8_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>2.30092 -1.77074 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_9'>
<collision name='Wall_9_Collision'>
<geometry>
<box>
<size>1.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_9_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>1.00092 -1.22074 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<static>1</static>
</model>
<model name='Dumpster'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://dumpster/materials/scripts</uri>
<uri>model://dumpster/materials/textures</uri>
<name>Dumpster/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose frame=''>-5.8491 1.01415 0 0 -0 0</pose>
</model>
<model name='Dumpster_0'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://dumpster/materials/scripts</uri>
<uri>model://dumpster/materials/textures</uri>
<name>Dumpster/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose frame=''>5.82953 1.13428 0 0 -0 0</pose>
</model>
<model name='Dumpster_1'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://dumpster/materials/scripts</uri>
<uri>model://dumpster/materials/textures</uri>
<name>Dumpster/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose frame=''>-2.10368 -6.35586 0 0 -0 0</pose>
</model>
</world>
</sdf>
world文件和sdf文件都是Gazebo的模型文件,sdf文件是单个的模型文件。而world文件是单个sdf文件(模型)的组织者,world文件可以使用sdf文件定义的单个模型去定义一个大的“世界”,当然这个世界是模拟的世界,是有许多的模型构成的。world文件可以使用如下的办法使用已经定义好的(位置在.gazebo/model文件下面)模型:
<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="pillar1">
<include>
<pose frame=''>-0.023818 0.19212 2.60653 0 -0 0.000933</pose>
<scale>1 1 1</scale>
<uri>model://lxl_pillar</uri>
</include>
</model>
</world>
</sdf>
也可以直接把sdf文件定义的部分放在world中。
本文内容由网友自发贡献,版权归原作者所有,本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容,请联系:hwhale#tublm.com(使用前将#替换为@)