- \n
- Linux Mint 22.1 (ubuntu 22.04)<\/li>\n\n\n\n
- gazeob ionic<\/li>\n<\/ul>\n\n\n\n
Gazebo \u81ea\u8eab\u306f\u3001\u516c\u5f0f\u306e\u624b\u9806\u3067 apt install gz-ionic \u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u3002<\/p>\n\n\n\n
Gazebo \u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3092 Moving the Robot \u307e\u3067\u9032\u3081\u308b\u3068 building_robot.sdf \u306f\u3053\u3046\u306a\u3063\u305f\u3002
\u5404\u7ae0\u306e\u5192\u982d\u306b\u5b8c\u6210\u5f62\u304c\u3042\u308b\u306e\u3067\u305d\u308c\u3092\u307f\u308c\u3070\u3044\u3044\u3002<\/p>\n\n\n\n<?xml version="1.0" ?>\n<sdf version="1.10">\n <world name="Moving_robot">\n <physics name="1ms" type="ignored">\n <max_step_size>0.001<\/max_step_size>\n <real_time_factor>1.0<\/real_time_factor>\n <\/physics>\n <plugin\n filename="gz-sim-physics-system"\n name="gz::sim::systems::Physics">\n <\/plugin>\n <plugin\n filename="gz-sim-user-commands-system"\n name="gz::sim::systems:aze:UserCommands">\n <\/plugin>\n <plugin\n filename="gz-sim-scene-broadcaster-system"\n name="gz::sim::systems::SceneBroadcaster">\n <\/plugin>\n\n <light type="directional" name="sun">\n <cast_shadows>true<\/cast_shadows>\n <pose>0 0 10 0 0 0<\/pose>\n <diffuse>0.8 0.8 0.8 1<\/diffuse>\n <specular>0.2 0.2 0.2 1<\/specular>\n <attenuation>\n <range>1000<\/range>\n <constant>0.9<\/constant>\n <linear>0.01<\/linear>\n <quadratic>0.001<\/quadratic>\n <\/attenuation>\n <direction>-0.5 0.1 -0.9<\/direction>\n <\/light>\n\n <model name="ground_plane">\n <static>true<\/static>\n <link name="link">\n <collision name="collision">\n <geometry>\n <plane>\n <normal>0 0 1<\/normal>\n <\/plane>\n <\/geometry>\n <\/collision>\n <visual name="visual">\n <geometry>\n <plane>\n <normal>0 0 1<\/normal>\n <size>100 100<\/size>\n <\/plane>\n <\/geometry>\n <material>\n <ambient>0.8 0.8 0.8 1<\/ambient>\n <diffuse>0.8 0.8 0.8 1<\/diffuse>\n <specular>0.8 0.8 0.8 1<\/specular>\n <\/material>\n <\/visual>\n <\/link>\n <\/model>\n\n <model name='vehicle_blue' canonical_link='chassis'>\n <pose relative_to='world'>0 0 0 0 0 0<\/pose> <!--the pose is relative to the world by default-->\n\n <link name='chassis'>\n <pose relative_to='__model__'>0.5 0 0.4 0 0 0<\/pose>\n <inertial> <!--inertial properties of the link mass, inertia matix-->\n <mass>1.14395<\/mass>\n <inertia>\n <ixx>0.126164<\/ixx>\n <ixy>0<\/ixy>\n <ixz>0<\/ixz>\n <iyy>0.416519<\/iyy>\n <iyz>0<\/iyz>\n <izz>0.481014<\/izz>\n <\/inertia>\n <\/inertial>\n <visual name='visual'>\n <geometry>\n <box>\n <size>2.0 1.0 0.5<\/size> <!--question: this size is in meter-->\n <\/box>\n <\/geometry>\n <!--let's add color to our link-->\n <material>\n <ambient>0.0 0.0 1.0 1<\/ambient>\n <diffuse>0.0 0.0 1.0 1<\/diffuse>\n <specular>0.0 0.0 1.0 1<\/specular>\n <\/material>\n <\/visual>\n <collision name='collision'> <!--todo: describe why we need the collision-->\n <geometry>\n <box>\n <size>2.0 1.0 0.5<\/size>\n <\/box>\n <\/geometry>\n <\/collision>\n <\/link>\n\n <!--let's build the left wheel-->\n <link name='left_wheel'>\n <pose relative_to="chassis">-0.5 0.6 0 -1.5707 0 0<\/pose> <!--angles are in radian-->\n <inertial>\n <mass>2<\/mass>\n <inertia>\n <ixx>0.043333<\/ixx>\n <ixy>0<\/ixy>\n <ixz>0<\/ixz>\n <iyy>0.043333<\/iyy>\n <iyz>0<\/iyz>\n <izz>0.08<\/izz>\n <\/inertia>\n <\/inertial>\n <visual name='visual'>\n <geometry>\n <cylinder>\n <radius>0.4<\/radius>\n <length>0.2<\/length>\n <\/cylinder>\n <\/geometry>\n <material>\n <ambient>1.0 0.0 0.0 1<\/ambient>\n <diffuse>1.0 0.0 0.0 1<\/diffuse>\n <specular>1.0 0.0 0.0 1<\/specular>\n <\/material>\n <\/visual>\n <collision name='collision'>\n <geometry>\n <cylinder>\n <radius>0.4<\/radius>\n <length>0.2<\/length>\n <\/cylinder>\n <\/geometry>\n <\/collision>\n <\/link>\n\n <!--copy and paste for right wheel but change position-->\n <link name='right_wheel'>\n <pose relative_to="chassis">-0.5 -0.6 0 -1.5707 0 0<\/pose> <!--angles are in radian-->\n <inertial>\n <mass>1<\/mass>\n <inertia>\n <ixx>0.043333<\/ixx>\n <ixy>0<\/ixy>\n <ixz>0<\/ixz>\n <iyy>0.043333<\/iyy>\n <iyz>0<\/iyz>\n <izz>0.08<\/izz>\n <\/inertia>\n <\/inertial>\n <visual name='visual'>\n <geometry>\n <cylinder>\n <radius>0.4<\/radius>\n <length>0.2<\/length>\n <\/cylinder>\n <\/geometry>\n <material>\n <ambient>1.0 0.0 0.0 1<\/ambient>\n <diffuse>1.0 0.0 0.0 1<\/diffuse>\n <specular>1.0 0.0 0.0 1<\/specular>\n <\/material>\n <\/visual>\n <collision name='collision'>\n <geometry>\n <cylinder>\n <radius>0.4<\/radius>\n <length>0.2<\/length>\n <\/cylinder>\n <\/geometry>\n <\/collision>\n <\/link>\n\n <frame name="caster_frame" attached_to='chassis'>\n <pose>0.8 0 -0.2 0 0 0<\/pose>\n <\/frame>\n\n <!--caster wheel-->\n <link name='caster'>\n <pose relative_to='caster_frame'\/>\n <inertial>\n <mass>1<\/mass>\n <inertia>\n <ixx>0.016<\/ixx>\n <ixy>0<\/ixy>\n <ixz>0<\/ixz>\n <iyy>0.016<\/iyy>\n <iyz>0<\/iyz>\n <izz>0.016<\/izz>\n <\/inertia>\n <\/inertial>\n <visual name='visual'>\n <geometry>\n <sphere>\n <radius>0.2<\/radius>\n <\/sphere>\n <\/geometry>\n <material>\n <ambient>0.0 1 0.0 1<\/ambient>\n <diffuse>0.0 1 0.0 1<\/diffuse>\n <specular>0.0 1 0.0 1<\/specular>\n <\/material>\n <\/visual>\n <collision name='collision'>\n <geometry>\n <sphere>\n <radius>0.2<\/radius>\n <\/sphere>\n <\/geometry>\n <\/collision>\n <\/link>\n\n\n <!--connecting these links together using joints-->\n <joint name='left_wheel_joint' type='revolute'> <!--continous joint is not supported yet-->\n <pose relative_to='left_wheel'\/>\n <parent>chassis<\/parent>\n <child>left_wheel<\/child>\n <axis>\n <xyz expressed_in='__model__'>0 1 0<\/xyz> <!--can be defined as any frame or even arbitrary frames-->\n <limit>\n <lower>-1.79769e+308<\/lower> <!--negative infinity-->\n <upper>1.79769e+308<\/upper> <!--positive infinity-->\n <\/limit>\n <\/axis>\n <\/joint>\n\n <joint name='right_wheel_joint' type='revolute'>\n <pose relative_to='right_wheel'\/>\n <parent>chassis<\/parent>\n <child>right_wheel<\/child>\n <axis>\n <xyz expressed_in='__model__'>0 1 0<\/xyz>\n <limit>\n <lower>-1.79769e+308<\/lower> <!--negative infinity-->\n <upper>1.79769e+308<\/upper> <!--positive infinity-->\n <\/limit>\n <\/axis>\n <\/joint>\n\n <!--different type of joints ball joint--> <!--defult value is the child-->\n <joint name='caster_wheel' type='ball'>\n <parent>chassis<\/parent>\n <child>caster<\/child>\n <\/joint>\n\n <!--diff drive plugin-->\n <plugin\n filename="gz-sim-diff-drive-system"\n name="gz::sim::systems::DiffDrive">\n <left_joint>left_wheel_joint<\/left_joint>\n <right_joint>right_wheel_joint<\/right_joint>\n <wheel_separation>1.2<\/wheel_separation>\n <wheel_radius>0.4<\/wheel_radius>\n <odom_publish_frequency>1<\/odom_publish_frequency>\n <topic>cmd_vel<\/topic>\n <\/plugin>\n <\/model>\n\n <!-- Moving Left-->\n <plugin filename="gz-sim-triggered-publisher-system"\n name="gz::sim::systems::TriggeredPublisher">\n <input type="gz.msgs.Int32" topic="\/keyboard\/keypress">\n <match field="data">16777234<\/match>\n <\/input>\n <output type="gz.msgs.Twist" topic="\/cmd_vel">\n linear: {x: 0.0}, angular: {z: 0.5}\n <\/output>\n <\/plugin>\n <!-- Moving Forward-->\n <plugin filename="gz-sim-triggered-publisher-system"\n name="gz::sim::systems::TriggeredPublisher">\n <input type="gz.msgs.Int32" topic="\/keyboard\/keypress">\n <match field="data">16777235<\/match>\n <\/input>\n <output type="gz.msgs.Twist" topic="\/cmd_vel">\n linear: {x: 0.5}, angular: {z: 0.0}\n <\/output>\n <\/plugin>\n <!-- Moving Right-->\n <plugin filename="gz-sim-triggered-publisher-system"\n name="gz::sim::systems::TriggeredPublisher">\n <input type="gz.msgs.Int32" topic="\/keyboard\/keypress">\n <match field="data">16777236<\/match>\n <\/input>\n <output type="gz.msgs.Twist" topic="\/cmd_vel">\n linear: {x: 0.0}, angular: {z: -0.5}\n <\/output>\n <\/plugin>\n <!-- Moving Backward-->\n <plugin filename="gz-sim-triggered-publisher-system"\n name="gz::sim::systems::TriggeredPublisher">\n <input type="gz.msgs.Int32" topic="\/keyboard\/keypress">\n <match field="data">16777237<\/match>\n <\/input>\n <output type="gz.msgs.Twist" topic="\/cmd_vel">\n linear: {x: -0.5}, angular: {z: 0.0}\n <\/output>\n <\/plugin>\n <\/world>\n<\/sdf>\n<\/code><\/pre><\/div>\n\n\n\n\u8d77\u52d5\u3059\u308b\u306b\u306f\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u3092\uff12\u3064\u8d77\u52d5\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u3002<\/p>\n\n\n\n
\uff11\u3064\u3081\u306f\u3001sdf \u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067\u753b\u9762\u3092\u8868\u793a\u3059\u308b<\/p>\n\n\n\n
$ gz sim building_robot.sdf<\/code><\/pre><\/div>\n\n\n\n\u3082\u3046\u4e00\u3064\u306f\u3001\u5165\u529b\u3055\u308c\u305f\u30ad\u30fc\u3092\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u30c0\u30f3\u30d7\u3059\u308b\u3082\u306e\u306a\u306e\u3067\u672c\u5f53\u306f\u52d5\u304b\u3055\u306a\u304f\u3066\u3082\u3044\u3044\u3002<\/p>\n\n\n\n
$ gz topic -e -t \/keyboard\/keypress<\/code><\/pre><\/div>\n\n\n\n\u305d\u3057\u3066 GUI \u3067 Keyboard Publisher \u3092\u8d77\u52d5\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u3002
GUI \u3067\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u8d77\u52d5\u3059\u308b\u306b\u306f\u3001\u53f3\u4e0a\u306e\u30e1\u30cb\u30e5\u30fc\u30a2\u30a4\u30b3\u30f3\u3067 \u300eKey Publisher\u300f \u3092\u9078\u629e\u3059\u308b\u3002
\u3053\u308c\u3092\u8aad\u307f\u98db\u3070\u3057\u3066\u3057\u3070\u3089\u304f\u8003\u3048\u8fbc\u3093\u3067\u3057\u307e\u3063\u305f\u3002<\/p>\n\n\n\n\u305d\u3057\u3066\u5de6\u4e0b\u306e \u518d\u751f\u30dc\u30bf\u30f3\uff1f \u958b\u59cb\u30dc\u30bf\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3002<\/p>\n\n\n\n
![\"\"](\"https:\/\/blog.txn.red\/wp-content\/uploads\/2025\/03\/gazabo00-1024x881.png\")
<\/figure>\n\n\n\n\u3059\u308b\u3068\u30ad\u30fc\u30dc\u30fc\u30c9\u306e\u64cd\u4f5c\u3067\u8eca\uff1f\u304c\u52d5\u4f5c\u3059\u308b\u3088\u3046\u306b\u306a\u308b\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u53c2\u8003<\/h2>\n\n\n\n
Moving the robot \u2014 Gazebo ionic documentation<\/a><\/p>\n\n\n\n