{"id":988,"date":"2025-03-11T16:43:35","date_gmt":"2025-03-11T07:43:35","guid":{"rendered":"https:\/\/txn.myds.me\/blog\/?p=988"},"modified":"2025-03-11T16:43:35","modified_gmt":"2025-03-11T07:43:35","slug":"gazebo-ionic-%e3%81%a7-sdf-%e3%81%ab%e3%82%ab%e3%83%a1%e3%83%a9%e3%82%92%e8%bf%bd%e5%8a%a0%e3%81%97%e3%81%9f","status":"publish","type":"post","link":"https:\/\/blog.txn.red\/?p=988","title":{"rendered":"Gazebo ionic \u3067 SDF \u306b\u30ab\u30e1\u30e9\u3092\u8ffd\u52a0\u3057\u305f"},"content":{"rendered":"\n

\u5c11\u3057\u524d\u304b\u3089\u7d9a\u3044\u3066\u3044\u308b gazebo \u30cd\u30bf\u3067\u3059\u304c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u4e2d\u306b\u30ab\u30e1\u30e9\u3092\u7f6e\u304d\u305f\u304f\u3066\u8a66\u884c\u932f\u8aa4\u3057\u307e\u3057\u305f\u3002\u7d50\u679c\u304b\u3089\u3044\u3046\u3068 github \u306e gz-sim \u306b example \u304c\u3042\u308a\u305d\u3053\u3092\u53c2\u8003<\/a>\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

\u30ab\u30e1\u30e9\u3092 Gazabo \u306e\u30ef\u30fc\u30eb\u30c9\u306b\u3044\u308c\u3066\u3042\u308b\u7279\u5b9a\u306e\u3053\u3068\u3092\u3057\u305f\u3044\u306e\u3067\u3059\u304c\u3001\u81ea\u5206\u306b\u306f\u3001 ROS \/ ROS2 \u306e\u7d4c\u9a13\u306f\u307b\u307c\u306a\u3044\u72b6\u614b\u306a\u306e\u3067 URDF \u3067\u306f\u306a\u304f\u3072\u3068\u307e\u305a SDF \u3067\u66f8\u304f\u3053\u3068\u306b\u3057\u3066\u3044\u307e\u3059\u3002\u305d\u3046\u3067\u306a\u3044\u3068 2 \u91cd 3 \u91cd\u306e\u969c\u5bb3\u3068\u306a\u308a\u306a\u304b\u306a\u304b\u5168\u4f53\u306e\u7406\u89e3\u304c\u3059\u3059\u307e\u306a\u3044\u3060\u308d\u3046\u3068\u3044\u3046\u5224\u65ad\u3067\u3059\u3002<\/p>\n\n\n\n

Gazebo \u516c\u5f0f\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u306b\u3082\u30bb\u30f3\u30b5\u30fc\u306e\u30b5\u30f3\u30d7\u30eb\u306f\u3042\u308a\u307e\u3059\u304c\u3001\u3042\u308c\u306f\u30b7\u30b9\u30c6\u30e0\u30d7\u30e9\u30b0\u30a4\u30f3\u306a\u306e\u3067 <plugin> \u30bf\u30b0\u306e\u4e2d\u306e filename \u3092\u3069\u3046\u66f8\u3044\u3066\u3044\u3044\u306e\u304b\u30a4\u30de\u30a4\u30c1\u308f\u304b\u308a\u307e\u305b\u3093\u3067\u3057\u305f\u3002<\/p>\n\n\n\n

\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3092\u6f01\u3063\u3066\u3044\u308b\u3068\u3044\u3064\u306e\u307e\u306b Github \u306e example \u306b\u305f\u3069\u308a\u7740\u304d world \u30d5\u30a9\u30eb\u30c0\u306b\u8272\u3005\u306a\u30b5\u30f3\u30d7\u30eb\u304c\u3042\u308b\u3053\u3068\u306b\u6c17\u3065\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

CameraSensor \u306e\u4f8b<\/h2>\n\n\n\n

\u6700\u4f4e\u9650\u306e\u30e2\u30c7\u30eb\u3057\u304b\u304a\u3044\u3066\u3044\u306a\u3044\u3067\u3059\u3002\u3053\u306e\u30b3\u30fc\u30c9\u306e\u307e\u307e\u3060\u3068\u3069\u3046\u3082\u30ab\u30e1\u30e9\u306e\u5411\u304d\u304c\u60aa\u3044\u3088\u3046\u3067 \u30ef\u30fc\u30eb\u30c9\u306e\u4e2d\u306b\u3042\u308b\u7403\u4f53\u3092\u30ab\u30e1\u30e9\u306e\u753b\u89d2\u306b\u6349\u3048\u3089\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u304c\u3001\u5ea7\u6a19\u9069\u5f53\u306b\u8abf\u6574\u3059\u308c\u3070\u30ab\u30e1\u30e9\u3067\u6349\u3048\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n

<?xml version="1.0" ?>\n<sdf version="1.10">\n  <world name="camera_world">\n    <plugin\n        filename="gz-sim-physics-system"\n        name="gz::sim::systems::Physics">\n    <\/plugin>\n\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    <gravity>0 0 -9.8<\/gravity>\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='sphere1'>\n      <pose>1.5 1.5 0.5  0 0 0<\/pose>\n      <link name='link'>\n        <collision name='collision'>\n          <geometry>\n            <sphere>\n              <radius>0.5<\/radius>\n            <\/sphere>\n          <\/geometry>\n        <\/collision>\n        <visual name='visual'>\n          <geometry>\n            <sphere>\n              <radius>0.5<\/radius>\n            <\/sphere>\n          <\/geometry>\n        <\/visual>\n      <\/link>\n    <\/model>\n\n    <!-- RGB camera-->\n    <model name='rgb_camera'>\n      <pose>0 0 0.5  0 0 0<\/pose>\n      <link name='link'>\n        <inertial>\n          <mass>0.1<\/mass>\n          <inertia>\n            <ixx>0.000166667<\/ixx>\n            <iyy>0.000166667<\/iyy>\n            <izz>0.000166667<\/izz>\n          <\/inertia>\n        <\/inertial>\n\n        <collision name='collision'>\n          <geometry>\n            <box>\n              <size>0.1 0.1 0.1<\/size>\n            <\/box>\n          <\/geometry>\n        <\/collision>\n\n        <visual name='visual'>\n          <geometry>\n            <box>\n              <size>0.1 0.1 0.1<\/size>\n            <\/box>\n          <\/geometry>\n          <material>\n            <ambient>0.1 0.1 0.1 1<\/ambient>\n            <diffuse>0.1 0.1 0.1 1<\/diffuse>\n            <specular>0.01 0.01 0.01 1<\/specular>\n          <\/material>\n        <\/visual>\n        \n        <sensor name='camera' type='camera'>\n          <always_on>1<\/always_on>\n          <update_rate>2<\/update_rate>\n          <visualize>true<\/visualize>\n          <camera>\n            <horizontal_fov>1.047<\/horizontal_fov>\n            <image>\n              <width>640<\/width>\n              <height>480<\/height>\n              <format>R8G8B8<\/format>\n            <\/image>\n            <clip>\n              <near>0.1<\/near>\n              <far>100<\/far>\n            <\/clip>\n            <save enabled='true'>\n              <path>images\/<\/path>\n            <\/save>\n          <\/camera>\n          <topic>rgb<\/topic>\n        <\/sensor>\n      <\/link>\n    <\/model>\n    <!-- RGB camea end -->\n\n    <!-- load sensors plugin  -->\n    <plugin filename='gz-sim-sensors-system'\n      name='gz::sim::systems::Sensors'>\n    <\/plugin>\n  <\/world>\n\n<\/sdf>\n<\/code><\/pre><\/div>\n\n\n\n
\u30ab\u30e1\u30e9\u306e\u753b\u50cf\u306f  images \u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002\u3082\u3057\u304b\u3059\u308b\u3068\u4e88\u3081\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
gazebo \u3068\u4e00\u7dd2\u306b\u7d44\u307f\u8fbc\u307e\u308c\u308b sensors \u306f\u3001\u3069\u3046\u3084\u3089  gz-sim-sensors-system \u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u540d\u3067\u53c2\u7167\u3067\u304d\u308b\u3088\u3046\u3067\u3059\u3002<\/p>\n\n\n\n
\u52d5\u4f5c\u3092\u78ba\u8a8d\u3059\u308b\u306b\u306f\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u3092 2 \u3064\u7acb\u3061\u4e0a\u3052\u3001\u4e00\u65b9\u306e\u7aef\u672b\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
$ gz sim camera.sdf<\/code><\/pre><\/div>\n\n\n\n
\u3082\u3046\u4e00\u65b9\u306e\u7aef\u672b\u3067\u30c8\u30d4\u30c3\u30af\u3092\u30ea\u30c3\u30b9\u30f3\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
 gz topic -e -t \/rgb<\/code><\/pre><\/div>\n\n\n\n
\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u5de6\u4e0b\u306e\u958b\u59cb\uff1f\u518d\u751f\uff1f\u30dc\u30bf\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u3001\u30c8\u30d4\u30c3\u30af\u3092\u8074\u3044\u3066\u3044\u308b\u7aef\u672b\u306a\u306b\u3084\u3089\u30c7\u30fc\u30bf\u304c\u6d41\u308c\u51fa\u3057 images \u30d5\u30a9\u30eb\u30c0\u306b\u30ab\u30e1\u30e9\u304c\u6349\u3048\u305f\u6620\u50cf\u304c\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n
 depth_camera \u306e\u4f8b<\/h2>\n\n\n\n
\u57fa\u672c\u7684\u306b\u3001\u901a\u5e38\u306e\u30ab\u30e1\u30e9\u3068\u540c\u3058\u306a\u306e\u3067\u3059\u304c\u3001\u307e\u305a\u306f sdf \u3092\u63d0\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
<?xml version="1.0" ?>\n<sdf version="1.10">\n  <world name="depth_world">\n    <plugin\n        filename="gz-sim-physics-system"\n        name="gz::sim::systems::Physics">\n    <\/plugin>\n\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    <gravity>0 0 -9.8<\/gravity>\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='sphere1'>\n      <pose>1.5 1.5 0.5  0 0 0<\/pose>\n      <link name='link'>\n        <collision name='collision'>\n          <geometry>\n            <sphere>\n              <radius>0.5<\/radius>\n            <\/sphere>\n          <\/geometry>\n        <\/collision>\n        <visual name='visual'>\n          <geometry>\n            <sphere>\n              <radius>0.5<\/radius>\n            <\/sphere>\n          <\/geometry>\n        <\/visual>\n      <\/link>\n    <\/model>\n\n    <!-- depth camera-->\n    <model name='depth_camera'>\n      <pose>0 0 0.5  0 0 0<\/pose>\n      <link name='link'>\n        <inertial>\n          <mass>0.1<\/mass>\n          <inertia>\n            <ixx>0.000166667<\/ixx>\n            <iyy>0.000166667<\/iyy>\n            <izz>0.000166667<\/izz>\n          <\/inertia>\n        <\/inertial>\n\n        <collision name='collision'>\n          <geometry>\n            <box>\n              <size>0.1 0.1 0.1<\/size>\n            <\/box>\n          <\/geometry>\n        <\/collision>\n\n        <visual name='visual'>\n          <geometry>\n            <box>\n              <size>0.1 0.1 0.1<\/size>\n            <\/box>\n          <\/geometry>\n          <material>\n            <ambient>0.1 0.1 0.1 1<\/ambient>\n            <diffuse>0.1 0.1 0.1 1<\/diffuse>\n            <specular>0.01 0.01 0.01 1<\/specular>\n          <\/material>\n        <\/visual>\n        \n        <sensor name='depth_camera' type='depth_camera'>\n          <always_on>1<\/always_on>\n          <update_rate>1<\/update_rate>\n          <visualize>true<\/visualize>\n          <camera>\n            <horizontal_fov>1.047<\/horizontal_fov>\n            <image>\n              <width>640<\/width>\n              <height>480<\/height>\n              <format>L8<\/format>\n            <\/image>\n            <clip>\n              <near>0.1<\/near>\n              <far>100<\/far>\n            <\/clip>\n            <save enabled='true'>\n              <path>images<\/path>\n            <\/save>\n          <\/camera>\n\n          <topic>depth<\/topic>\n        <\/sensor>\n      <\/link>\n    <\/model>\n    <!-- depth camea end -->\n\n    <!-- load sensors plugin  -->\n    <plugin filename='gz-sim-sensors-system'\n      name='gz::sim::systems::Sensors'>\n    <\/plugin>\n  <\/world>\n\n<\/sdf>\n<\/code><\/pre><\/div>\n\n\n\n
\u5148\u7a0b\u306e camera_sensor \u306e\u3068\u304d\u3068\u307b\u307c\u540c\u3058\u3067\u3059\u304c\u3001 <sensor> \u306e type \u5c5e\u6027\u304cdepth_camera \u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u66f4\u306b\u8ddd\u96e2\u60c5\u5831\u306f\u30ab\u30e9\u30fc\u3060\u3068\u56f0\u308b\u306e\u3067\u3001SDFormat \u306e\u4ed5\u69d8\u3092\u898b\u3066\u9069\u5f53\u306b L8 \u3068\u3057\u305f\u304c\u3053\u308c\u304c\u6b63\u3057\u3044\u306e\u304b\u306f\u5168\u304f\u308f\u304b\u3063\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
\u4e00\u5fdc\u3064\u3076\u3084\u304f \u30c8\u30d4\u30c3\u30af depth \u306b\u5909\u3048\u3066\u3044\u307e\u3059\u304c\u3001\u307e\u3042\u5909\u3048\u306a\u304f\u3066\u3082\u3044\u3044\u3067\u3059\u3002<\/p>\n\n\n\n
\u52d5\u4f5c\u78ba\u8a8d\u306fcamera_sensor \u306e\u3068\u304d\u3068\u540c\u69d8\u306b\u304a\u3053\u306a\u3044\u307e\u3059\u304c\u3001 \u30ea\u30c3\u30b9\u30f3\u3059\u308b\u30c8\u30d4\u30c3\u30af\u3068 SDF \u5185\u3067\u6307\u5b9a\u3057\u305f depth \u306b\u3057\u3066\u3084\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
\u3088\u3046\u3084\u304f\u3001\u30ab\u30e1\u30e9\u30c7\u30fc\u30bf\u306e\u5410\u304d\u51fa\u3057\u307e\u3067\u3067\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n
\u3068\u306f\u3044\u3048\u3001rgbd_camera \u306f\u540c\u3058\u3088\u3046\u306b\u3084\u3063\u3066\u3082\u30c0\u30f3\u30de\u30ea\u306a\u306e\u3067\u306a\u304b\u306a\u304b\u5148\u306b\u9032\u3081\u306a\u3044\u3002\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\u3042\u308b sensors_demo.sdf \u306b\u306f rgbd_camera \u306e\u4f8b\u304c\u3042\u308b\u306e\u3067\u3053\u308c\u3092\u53c2\u8003\u306b\u3084\u3063\u3066\u307f\u308b\u304b\u3002<\/p>\n\n\n\n
\u53c2\u8003<\/h2>\n\n\n\n
gz-sim\/examples\/worlds at gz-sim9 \u00b7 gazebosim\/gz-sim<\/a><\/p>\n\n\n\n
SDFormat Specification<\/a><\/p>\n\n\n\n
g<\/p>\n","protected":false},"excerpt":{"rendered":"
\u5c11\u3057\u524d\u304b\u3089\u7d9a\u3044\u3066\u3044\u308b gazebo \u30cd\u30bf\u3067\u3059\u304c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u4e2d\u306b\u30ab\u30e1\u30e9\u3092\u7f6e\u304d\u305f\u304f\u3066\u8a66\u884c\u932f\u8aa4\u3057\u307e\u3057\u305f\u3002\u7d50\u679c\u304b\u3089\u3044\u3046\u3068 github \u306e gz-sim \u306b example \u304c\u3042\u308a\u305d\u3053\u3092\u53c2\u8003\u306b\u3057\u307e\u3057\u305f\u3002 \u30ab\u30e1\u30e9\u3092 Gaz […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"iawp_total_views":5,"footnotes":""},"categories":[5],"tags":[20],"class_list":["post-988","post","type-post","status-publish","format-standard","hentry","category-it","tag-robot"],"_links":{"self":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts\/988","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=988"}],"version-history":[{"count":0,"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts\/988\/revisions"}],"wp:attachment":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=988"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=988"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=988"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}