{"id":994,"date":"2025-03-11T20:31:31","date_gmt":"2025-03-11T11:31:31","guid":{"rendered":"https:\/\/txn.myds.me\/blog\/?p=994"},"modified":"2025-03-11T20:31:31","modified_gmt":"2025-03-11T11:31:31","slug":"gazebo-%e3%81%ae%e3%82%bb%e3%83%b3%e3%82%b5%e3%83%bc%e3%81%8c-publish-%e3%81%97%e3%81%a6%e3%81%84%e3%82%8b%e3%83%88%e3%83%94%e3%83%83%e3%82%af%e3%82%92%e8%aa%bf%e3%81%b9%e3%82%8b%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/blog.txn.red\/?p=994","title":{"rendered":"Gazebo \u306e\u30bb\u30f3\u30b5\u30fc\u304c publish \u3057\u3066\u3044\u308b\u30c8\u30d4\u30c3\u30af\u3092\u8abf\u3079\u308b\u65b9\u6cd5"},"content":{"rendered":"\n

\u524d\u56de\u306e\u8a18\u4e8b\u3067\u306f camera_sensor \u3068 depth_camera \u3092\u53d6\u308a\u4e0a\u3052\u307e\u3057\u305f\u304c\u3001\u305d\u306e\u969b rgbd_camera \u304c\u4e0a\u624b\u304f\u6271\u3048\u306a\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u3001\u3069\u3046\u3084\u3089 rgbd_camera \u306f \/ \u3067\u306f\u4f55\u3082\u5e83\u544a\u3057\u3066\u3044\u306a\u3044\u3053\u3068\u304c sensors_demo.sdf<\/a> \u3092\u307f\u3066\u308f\u304b\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

\u30bb\u30f3\u30b5\u30fc\u304c\u3069\u3093\u306a\u30c8\u30d4\u30c3\u30af\u3092\u5e83\u544a\u3059\u308b\u304b\u3092\u8abf\u3079\u308b\u65b9\u6cd5\u3092\u8abf\u3079\u307e\u3057\u305f\u3002 \u30bb\u30f3\u30b5\u30fc\u304c\u5e83\u544a\u3059\u308b\u30c8\u30d4\u30c3\u30af\u304c\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3067\u898b\u3064\u3051\u3089\u308c\u306a\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u3001\u305d\u306e\u7406\u7531\u306e\u4e00\u65e6\u304c\u308f\u304b\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

\u30c8\u30d4\u30c3\u30af\u3092\u78ba\u8a8d\u3059\u308b\u65b9\u6cd5<\/h2>\n\n\n\n

\u307e\u305a\u306f\u3001\u4f55\u3067\u3082\u3044\u3044\u306e\u3067\u6b63\u3057\u304f\u69cb\u6210\u3055\u308c\u305f .sdf \u3092\u8aad\u307f\u8fbc\u3093\u3067\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

\u5225\u306e\u7aef\u672b\u304b\u3089\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f \/rgbd \u304c rgbd_camera \u304c publish \u3057\u3066\u3044\u308b\u30c8\u30d4\u30c3\u30af\u3067\u3059\u304c\u3001
\u305d\u306e\u4e0b\u306b\u3001camera_info\u3001depth_image \u306a\u3069\u304c\u3042\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

$ gz topic -l\n\/clock\n\/gazebo\/resource_paths\n\/gui\/camera\/pose\n\/gui\/currently_tracked\n\/gui\/track\n\/rgbd\/camera_info\n\/rgbd\/depth_image\n\/rgbd\/image\n\/rgbd\/points\n\/sensors\/marker\n\/stats\n\/world\/rgbd_world\/clock\n\/world\/rgbd_world\/dynamic_pose\/info\n\/world\/rgbd_world\/pose\/info\n\/world\/rgbd_world\/scene\/deletion\n\/world\/rgbd_world\/scene\/info\n\/world\/rgbd_world\/state\n\/world\/rgbd_world\/stats\n\/world\/rgbd_world\/light_config\n\/world\/rgbd_world\/material_color\n<\/code><\/pre><\/div>\n\n\n\n
\u4e0a\u8a18\u306f\u3001\u3053\u306e .sdf  \u3092\u8aad\u307f\u8fbc\u3093\u3060\u7d50\u679c\u3067\u3059<\/p>\n\n\n\n
<?xml version="1.0" ?>\n<sdf version="1.10">\n  <world name="rgbd_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-D camera-->\n    <model name='rgbd_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='rgbd_camera' type='rgbd_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>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>rgbd<\/topic>\n        <\/sensor>\n      <\/link>\n    <\/model>\n    <!-- RGB-D 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><\/code><\/pre><\/div>\n\n\n\n
ROS \/ ROS2 \u3092\u4f7f\u3063\u3066\u3044\u308b\u4eba\u306b\u3068\u3063\u3066\u306f\u3001\u30ce\u30fc\u30c9\u304c\u767a\u4fe1\u3057\u3066\u3044\u308b\u60c5\u5831\u3092 M2M \u7684\u306a\u30a2\u30d7\u30ed\u30fc\u30c1\u3067\u5916\u90e8\u304b\u3089\u78ba\u8a8d\u3059\u308c\u3070 OK \u3063\u3066\u3044\u3046\u65b9\u5f0f\u306b\u306a\u3058\u307f\u304c\u3042\u308b\u306e\u3060\u308d\u3046\u304c\u3001gazebo \u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u306f\u3042\u307e\u308a\u66f8\u3044\u3066\u3044\u306a\u3044\u6c17\u304c\u3059\u308b\u306e\u306f\u3061\u3087\u3063\u3068\u306a\u30fc\u3063\u3066\u6587\u53e5\u306e 1 \u3064\u3082\u3044\u3044\u305f\u3044\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
\u524d\u56de\u306e\u8a18\u4e8b\u3067\u306f camera_sensor \u3068 depth_camera \u3092\u53d6\u308a\u4e0a\u3052\u307e\u3057\u305f\u304c\u3001\u305d\u306e\u969b rgbd_camera \u304c\u4e0a\u624b\u304f\u6271\u3048\u306a\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u3001\u3069\u3046\u3084\u3089 rgbd_camera \u306f \/ \u3067\u306f\u4f55\u3082\u5e83\u544a\u3057\u3066\u3044\u306a\u3044 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"iawp_total_views":1,"footnotes":""},"categories":[5],"tags":[20],"class_list":["post-994","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\/994","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=994"}],"version-history":[{"count":0,"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts\/994\/revisions"}],"wp:attachment":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=994"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=994"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=994"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}