{"id":998,"date":"2025-03-13T10:42:01","date_gmt":"2025-03-13T01:42:01","guid":{"rendered":"https:\/\/txn.myds.me\/blog\/?p=998"},"modified":"2025-03-13T10:42:01","modified_gmt":"2025-03-13T01:42:01","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-2","status":"publish","type":"post","link":"https:\/\/blog.txn.red\/?p=998","title":{"rendered":"Gazebo \u306e SDF \u3092\u5206\u5272\u3059\u308b"},"content":{"rendered":"\n

\u306a\u3093\u3068\u304b RGBD_Camara \u306e\u4f7f\u3044\u65b9\u304c\u308f\u304b\u3063\u305fGazebo \u3067\u3059\u304c\u3001\u3060\u3093\u3060\u3093\u30d5\u30a1\u30a4\u30eb\u304c\u9577\u304f\u306a\u3063\u3066\u304d\u3066\u898b\u901a\u3057\u304c\u60aa\u304f\u306a\u3063\u3066\u304d\u307e\u3057\u305f\u3002\u3082\u3046\u5c11\u3057\u5b9f\u8df5\u7684\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3057\u3088\u3046\u3068\u3059\u308b\u3068\u30aa\u30d6\u30b8\u30a7\u30af\u30c8(\u30e2\u30c7\u30eb)\u306e\u6570\u304c\u3069\u3093\u3069\u3093\u5897\u3048\u3066\u3044\u304f\u306e\u3067\u3061\u3087\u3063\u3068\u53b3\u3057\u305d\u3046\u3067\u3059\u3002<\/p>\n\n\n\n

SDFromat \u306e\u4ed5\u69d8\u3092\u307f\u3066\u307f\u308b\u3068 <include> \u3068\u3044\u3046\u30bf\u30b0\u304c\u3042\u308a\u3069\u3046\u3084\u3089\u5225\u30d5\u30a1\u30a4\u30eb\u306e\u5185\u5bb9\u3092\u30ed\u30fc\u30c9\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u305d\u3046\u306a\u306e\u3067\u8a66\u3057\u3066\u307f\u307e\u3057\u305f\u3002\u7d50\u679c\u304b\u3089\u3044\u3046\u3068 <include><uri> \u306e\u306a\u304b\u3067 file:\/\/ \u3092\u4f7f\u3046\u3068\u30d5\u30a1\u30a4\u30eb\u30b7\u30b9\u30c6\u30e0\u304b\u3089\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067\u304f\u308c\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

\u5206\u5272\u524d\u306e\u30d5\u30a1\u30a4\u30eb<\/h2>\n\n\n\n

\u30d5\u30a1\u30a4\u30eb\u540d\u3092 camera.sdf \u3068\u3057\u3066\u3044\u308b\u306e\u306f\u3044\u307e\u3044\u3061\u5206\u304b\u308a\u3065\u3089\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\u3053\u308c\u3092\u5206\u5272\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n\n\n\n

\u5730\u9762\u306b\u76f8\u5f53\u3059\u308b\u9762\u3068\u5149\u6e90\u3001\u305d\u3057\u3066\u30ab\u30e1\u30e9\u3068\u7403\u4f53\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

<?xml version="1.0" ?>\n<sdf version="1.10">\n  <world name="rgb_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 0.52<\/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 0.3 0.2<\/size>\n            <\/box>\n          <\/geometry>\n        <\/collision>\n\n        <visual name='visual'>\n          <geometry>\n            <box>\n              <size>0.1 0.3 0.2<\/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
\u5206\u5272\u5f8c\u306e\u30d5\u30a1\u30a4\u30eb\u69cb\u6210<\/h2>\n\n\n\n