Gazebo-Tutorial2

1.添加mesh:

<mesh>
      <uri>model://pioneer2dx/meshes/chassis.dae</uri>
      <scale>0.9 0.5 0.5</scale>
</mesh>

添加自己从3D Warehouse下载的Collada File(即.dae文件）：

<mesh>                                        
  <uri>model://my_robot/meshes/model.dae</uri>
  <scale>0.9 0.5 0.5</scale>                  
</mesh>                                       

 2.添加Sensor:

//laser    
　　<include>
      <uri>model://hokuyo</uri>
      <pose>0.2 0 0.2 0 0 0</pose>
    </include>
    <joint name="hokuyo_joint" type="fixed">
      <child>hokuyo::link</child>
      <parent>chassis</parent>
    </joint>

//camera
    <include>
      <uri>model://camera</uri>
      <pose>0.2 0 0.2 0 0 0</pose>
    </include>
    <joint name="camera_joint" type="fixed">
      <child>camera::link</child>
      <parent>chassis</parent>
    </joint>

 3.一个简单的环境文件（.world文件）

  <sdf version="1.4">
    <world name="default">

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://my_gripper</uri>
    </include>

    </world>
  </sdf>

 

 4.简单的移动抓手小车（simple_mobile_manipulator/manipulator.sdf）

<include>+joint的方式将模型嵌套起来，很方便，缺点是保存时，include将不会被保存（即所有link都在一个robot标签下)，而通过直接写多个robot标签，再加上joint的方式，可以完全保存，方便修改。但总的来说，还是觉得include实用一点。

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="simple_mobile_manipulator">

    <include>
      <uri>model://my_gripper</uri>
      <pose>1.3 0 0.1 0 0 0</pose>
    </include>

    <include>
      <uri>model://my_robot</uri>
      <pose>0 0 0 0 0 0</pose>
    </include>

    <joint name="arm_gripper_joint" type="fixed">
      <parent>mobile_base::chassis</parent>
      <child>simple_gripper::riser</child>
    </joint>

    <!-- attach sensor to the gripper -->
    <include>
      <uri>model://hokuyo</uri>
      <pose>1.3 0 0.3 0 0 0</pose>
    </include>

    <joint name="hokuyo_joint" type="fixed">
      <child>hokuyo::link</child>
      <parent>simple_gripper::palm</parent>
    </joint>

  </model>
</sdf>