由 dawei
致谢源代码网址：https://github.com/Tutorgaming/kamtoa-simulation
kamtoa simulation学习与示例分析（一）
源码学习与分析是学习ROS，包括RVIZ和Gazebo等必须的过程，大量代码的阅读能够提高加快理解熟练使用ROS Kinetic。
首先，先看文件组织：
一般README中有详细的使用说明，包括安装，使用和示例教程。
CMakeLists.txt：
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake
cmake_minimum_required(VERSION 2.8.3)
set(CATKIN_TOPLEVEL TRUE)
# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
RESULT_VARIABLE _res
OUTPUT_VARIABLE _out
ERROR_VARIABLE _err
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
# searching fot catkin resulted in an error
string(REPLACE ";" " " _cmd_str "${_cmd}")
message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()
# include catkin from workspace or via find_package()
if(_res EQUAL 0)
set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
# include all.cmake without add_subdirectory to let it operate in same scope
include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
add_subdirectory("${_out}")
else()
# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
# or CMAKE_PREFIX_PATH from the environment
if(NOT DEFINED CMAKE_PREFIX_PATH)
if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
endif()
endif()
# list of catkin workspaces
set(catkin_search_path "")
foreach(path ${CMAKE_PREFIX_PATH})
if(EXISTS "${path}/.catkin")
list(FIND catkin_search_path ${path} _index)
if(_index EQUAL -1)
list(APPEND catkin_search_path ${path})
endif()
endif()
endforeach()
# search for catkin in all workspaces
set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
find_package(catkin QUIET
NO_POLICY_SCOPE
PATHS ${catkin_search_path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
if(NOT catkin_FOUND)
message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
endif()
endif()
catkin_workspace()
这里，先看kamtoa_gazebo文件夹下：
CMakeLists.txt中包含需要的功能包，如下截取部分代码片段：
cmake_minimum_required(VERSION 2.8.3) project(kamtoa_gazebo) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used,also find other catkin packages find_package(catkin REQUIRED COMPONENTS gazebo_msgs gazebo_plugins gazebo_ros gazebo_ros_control kamtoa_description ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system)
需要的功能包如果不全，可以使用sudo apt-get install ros-kinetic-gazebo-msgs，以类似方式安装（catkin）。当然编译需要对应的功能包，运行也需要，这里缺一不可，请看package.xml：
<?xml version="1.0"?>
<package>
<name>kamtoa_gazebo</name>
<version>0.0.0</version>
<description>The kamtoa_gazebo package</description>
<!-- One maintainer tag required,multiple allowed,one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="c3mx@todo.todo">c3mx</maintainer>
<!-- One license tag required,one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD,MIT,Boost Software License,GPLv2,GPLv3,LGPLv2.1,LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional,but mutiple are allowed,one per tag -->
<!-- Optional attribute type can be: website,bugtracker,or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/kamtoa_gazebo</url> -->
<!-- Author tags are optional,mutiple are allowed,one per tag -->
<!-- Authors do not have to be maintianers,but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>gazebo_msgs</build_depend>
<build_depend>gazebo_plugins</build_depend>
<build_depend>gazebo_ros</build_depend>
<build_depend>gazebo_ros_control</build_depend>
<build_depend>kamtoa_description</build_depend>
<run_depend>gazebo_msgs</run_depend>
<run_depend>gazebo_plugins</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>gazebo_ros_control</run_depend>
<run_depend>kamtoa_description</run_depend>
<!-- The export tag contains other,unspecified,tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
注意这里的<build_depend>和<run_depend>，分别对应编译和运行，
有时编译没有问题，运行却报错，请务必注意。
world文件夹下存放gazebo模型，打开可以看到：
building1.world和whiz_ex.world，具体解析可以参考博客中GazeboSim中内容，具体的模型文件为sdf 1.6对应Gazebo7，以whiz_ex_window为例，分为model.config和model.sdf如下：
model.sdf：
<?xml version='1.0'?>
<sdf version='1.6'>
<model name='whiz_ex_window'>
<pose frame=''>0.232213 1.38881 0 0 -0 0</pose>
<link name='Door_6'>
<collision name='Door_6_Collision'>
<geometry>
<box>
<size>0.9 0.17 2</size>
</box>
</geometry>
<pose frame=''>0 0 1 0 -0 0</pose>
</collision>
<visual name='Door_6_Visual'>
<pose frame=''>0 0 1 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.17 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose frame=''>0.29567 1.0429 0 0 0 -3.12055</pose>
</link>
<link name='Door_7'>
<collision name='Door_7_Collision'>
<geometry>
<box>
<size>0.949838 0.2 2</size>
</box>
</geometry>
<pose frame=''>0 0 1 0 -0 0</pose>
</collision>
<visual name='Door_7_Visual'>
<pose frame=''>0 0 1 0 -0 0</pose>
<geometry>
<box>
<size>0.949838 0.2 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose frame=''>-0.776238 1.0429 0 0 -0 3.14159</pose>
</link>
<link name='Door_8'>
<collision name='Door_8_Collision'>
<geometry>
<box>
<size>0.9 0.17 2</size>
</box>
</geometry>
<pose frame=''>0 0 1 0 -0 0</pose>
</collision>
<visual name='Door_8_Visual'>
<pose frame=''>0 0 1 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.17 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose frame=''>-4.14363 1.09228 0 0 -0 0</pose>
</link>
<link name='Door_9'>
<collision name='Door_9_Collision'>
<geometry>
<box>
<size>0.9 0.17 2</size>
</box>
</geometry>
<pose frame=''>0 0 1 0 -0 0</pose>
</collision>
<visual name='Door_9_Visual'>
<pose frame=''>0 0 1 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.17 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose frame=''>-1.75347 -0.819856 0 0 0 -3.12358</pose>
</link>
<link name='Wall_0'>
<pose frame=''>-1.6817 -3.67821 0 0 -0 0</pose>
<visual name='Wall_0_Visual_0'>
<pose frame=''>-1.17971 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.89059 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_0_Collision_0'>
<geometry>
<box>
<size>5.89059 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-1.17971 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_0_Visual_1'>
<pose frame=''>3.9453 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.35941 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_0_Collision_1'>
<geometry>
<box>
<size>0.35941 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>3.9453 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_0_Visual_2'>
<pose frame=''>2.76559 0 0 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 0</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_0_Collision_2'>
<geometry>
<box>
<size>2 0.15 0</size>
</box>
</geometry>
<pose frame=''>2.76559 0 0 0 -0 0</pose>
</collision>
<visual name='Wall_0_Visual_3'>
<pose frame=''>2.76559 0 2.45 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_0_Collision_3'>
<geometry>
<box>
<size>2 0.15 0.1</size>
</box>
</geometry>
<pose frame=''>2.76559 0 2.45 0 -0 0</pose>
</collision>
</link>
<link name='Wall_1'>
<collision name='Wall_1_Collision'>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_1_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>2.3683 -1.87821 0 0 -0 1.5708</pose>
</link>
<link name='Wall_13'>
<collision name='Wall_13_Collision'>
<geometry>
<box>
<size>9.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_13_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.19255 3.74668 0 0 -0 3.14159</pose>
</link>
<link name='Wall_15'>
<pose frame=''>-4.65794 2.07148 0 0 0 -1.5708</pose>
<visual name='Wall_15_Visual_0'>
<pose frame=''>-1.67569 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.148611 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_15_Collision_0'>
<geometry>
<box>
<size>0.148611 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-1.67569 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_15_Visual_1'>
<pose frame=''>1.07431 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.35139 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_15_Collision_1'>
<geometry>
<box>
<size>1.35139 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>1.07431 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_15_Visual_2'>
<pose frame=''>-0.601389 0 2.4 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_15_Collision_2'>
<geometry>
<box>
<size>2 0.15 0.2</size>
</box>
</geometry>
<pose frame=''>-0.601389 0 2.4 0 -0 0</pose>
</collision>
</link>
<link name='Wall_16'>
<collision name='Wall_16_Collision'>
<geometry>
<box>
<size>1.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_16_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/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-5.20794 0.396477 0 0 -0 3.14159</pose>
</link>
<link name='Wall_17'>
<pose frame=''>-5.75794 -1.65352 0 0 0 -1.5708</pose>
<visual name='Wall_17_Visual_0'>
<pose frame=''>-1.07794 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.09412 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_17_Collision_0'>
<geometry>
<box>
<size>2.09412 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-1.07794 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_17_Visual_1'>
<pose frame=''>1.04706 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>2.15588 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_17_Collision_1'>
<geometry>
<box>
<size>2.15588 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>1.04706 0 0.25 0 -0 0</pose>
</collision>
<visual name='Wall_17_Visual_2'>
<pose frame=''>2.01762 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>0.214766 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_17_Collision_2'>
<geometry>
<box>
<size>0.214766 0.15 2</size>
</box>
</geometry>
<pose frame=''>2.01762 0 1.5 0 -0 0</pose>
</collision>
<visual name='Wall_17_Visual_3'>
<pose frame=''>0.939679 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>1.94111 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_17_Collision_3'>
<geometry>
<box>
<size>1.94111 0.15 1.2</size>
</box>
</geometry>
<pose frame=''>0.939679 0 1.9 0 -0 0</pose>
</collision>
</link>
<link name='Wall_19'>
<collision name='Wall_19_Collision'>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_19_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-2.53404 1.06604 0 0 -0 0</pose>
</link>
<link name='Wall_20'>
<collision name='Wall_20_Collision'>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_20_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/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.35904 0.141035 0 0 0 -1.5708</pose>
</link>
<link name='Wall_21'>
<collision name='Wall_21_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_21_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.40904 -0.783965 0 0 -0 3.14159</pose>
</link>
<link name='Wall_23'>
<collision name='Wall_23_Collision'>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_23_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-3.91607 -0.818528 0 0 -0 3.14159</pose>
</link>
<link name='Wall_24'>
<collision name='Wall_24_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_24_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-5.64107 -0.818528 0 0 -0 3.14159</pose>
</link>
<link name='Wall_26'>
<collision name='Wall_26_Collision'>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_26_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/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-3.31229 0.121197 0 0 0 -1.5708</pose>
</link>
<link name='Wall_28'>
<collision name='Wall_28_Collision'>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_28_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.86043 2.95447 0 0 0 -1.5708</pose>
</link>
<link name='Wall_30'>
<collision name='Wall_30_Collision'>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_30_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.56043 2.15447 0 0 -0 0</pose>
</link>
<link name='Wall_32'>
<collision name='Wall_32_Collision'>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_32_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/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-0.228595 2.39065 0 0 0 -1.5708</pose>
</link>
<link name='Wall_35'>
<collision name='Wall_35_Collision'>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_35_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/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>1.29304 2.34692 0 0 0 -1.5708</pose>
</link>
<link name='Wall_37'>
<collision name='Wall_37_Collision'>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_37_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>1.36463 1.03216 0 0 -0 0</pose>
</link>
<link name='Wall_4'>
<pose frame=''>4.05869 -2.66379 0 0 -0 0</pose>
<visual name='Wall_4_Visual_0'>
<pose frame=''>-1.38368 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.732645 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_4_Collision_0'>
<geometry>
<box>
<size>0.732645 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-1.38368 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_4_Visual_1'>
<pose frame=''>1.61632 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.267355 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_4_Collision_1'>
<geometry>
<box>
<size>0.267355 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>1.61632 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_4_Visual_2'>
<pose frame=''>0.232645 0 2.45 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_4_Collision_2'>
<geometry>
<box>
<size>2.5 0.15 0.1</size>
</box>
</geometry>
<pose frame=''>0.232645 0 2.45 0 -0 0</pose>
</collision>
</link>
<link name='Wall_41'>
<collision name='Wall_41_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_41_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-0.228595 1.04065 0 0 0 -1.5708</pose>
</link>
<link name='Wall_44'>
<collision name='Wall_44_Collision'>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_44_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-0.233629 -1.95772 0 0 0 -1.5708</pose>
</link>
<link name='Wall_50'>
<pose frame=''>5.74567 0.386841 0 0 0 -1.57472</pose>
<visual name='Wall_50_Visual_0'>
<pose frame=''>-2.83254 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.586231 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_50_Collision_0'>
<geometry>
<box>
<size>0.586231 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-2.83254 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_50_Visual_1'>
<pose frame=''>1.30211 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.64708 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_50_Collision_1'>
<geometry>
<box>
<size>3.64708 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>1.30211 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_50_Visual_2'>
<pose frame=''>-1.53042 0 2.4 0 -0 0</pose>
<geometry>
<box>
<size>2.018 0.15 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_50_Collision_2'>
<geometry>
<box>
<size>2.018 0.15 0.2</size>
</box>
</geometry>
<pose frame=''>-1.53042 0 2.4 0 -0 0</pose>
</collision>
</link>
<link name='Wall_52'>
<pose frame=''>4.58265 3.43747 0 0 -0 3.14159</pose>
<visual name='Wall_52_Visual_0'>
<pose frame=''>-0.530284 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.43943 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_52_Collision_0'>
<geometry>
<box>
<size>1.43943 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-0.530284 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_52_Visual_1'>
<pose frame=''>1.16972 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.160568 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_52_Collision_1'>
<geometry>
<box>
<size>0.160568 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>1.16972 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_52_Visual_2'>
<pose frame=''>0.639432 0 2.25 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_52_Collision_2'>
<geometry>
<box>
<size>0.9 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>0.639432 0 2.25 0 -0 0</pose>
</collision>
</link>
<link name='Wall_53'>
<collision name='Wall_53_Collision'>
<geometry>
<box>
<size>0.463251 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_53_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.463251 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>3.38255 3.59207 0 0 -0 1.73174</pose>
</link>
<link name='Wall_55'>
<pose frame=''>1.06733 -0.11797 0 0 -0 0.030549</pose>
<visual name='Wall_55_Visual_0'>
<pose frame=''>-1.28558 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.181978 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_55_Collision_0'>
<geometry>
<box>
<size>0.181978 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-1.28558 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_55_Visual_1'>
<pose frame=''>0.540989 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.67116 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_55_Collision_1'>
<geometry>
<box>
<size>1.67116 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0.540989 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_55_Visual_2'>
<pose frame=''>-0.744593 0 2.25 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_55_Collision_2'>
<geometry>
<box>
<size>0.9 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>-0.744593 0 2.25 0 -0 0</pose>
</collision>
</link>
<link name='Wall_57'>
<pose frame=''>-0.766361 -0.161298 0 0 -0 0.006708</pose>
<visual name='Wall_57_Visual_0'>
<pose frame=''>-0.534301 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.146885 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_57_Collision_0'>
<geometry>
<box>
<size>0.146885 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-0.534301 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_57_Visual_1'>
<pose frame=''>0.511599 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.19229 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_57_Collision_1'>
<geometry>
<box>
<size>0.19229 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0.511599 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_57_Visual_2'>
<pose frame=''>-0.022702 0 2.25 0 -0 0</pose>
<geometry>
<box>
<size>0.876312 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_57_Collision_2'>
<geometry>
<box>
<size>0.876312 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>-0.022702 0 2.25 0 -0 0</pose>
</collision>
</link>
<static>1</static>
</model>
</sdf>
主要是Gazebo仿真场景中各类物体的具体属性参数。
model.config：