docs: https://github.com/gazebosim/docs.gitgazebosim官方演示代码

 3D View

<?xml version="1.0" ?>
<sdf version="1.8"><world name="sensor_world"><physics name="1ms" type="ignored"><max_step_size>0.001</max_step_size><real_time_factor>1.0</real_time_factor></physics>不带referrence属性的<plugin>就会直接插入到<world>内，从1.9开始没有<world>了<pluginfilename="ignition-gazebo-physics-system"name="ignition::gazebo::systems::Physics"></plugin><pluginfilename="ignition-gazebo-user-commands-system"name="ignition::gazebo::systems::UserCommands"></plugin><pluginfilename="ignition-gazebo-scene-broadcaster-system"name="ignition::gazebo::systems::SceneBroadcaster"></plugin><plugin filename="ignition-gazebo-imu-system"name="ignition::gazebo::systems::Imu"></plugin><plugin filename="ignition-gazebo-sensors-system"name="ignition::gazebo::systems::Sensors"><render_engine>ogre2</render_engine></plugin><plugin filename="ignition-gazebo-contact-system"name="ignition::gazebo::systems::Contact"></plugin><gui fullscreen="0"><!-- 3D scene --><plugin filename="MinimalScene" name="3D View"><gz-gui><title>3D View</title><property type="bool" key="showTitleBar">false</property><property type="string" key="state">docked</property></gz-gui><engine>ogre2</engine><scene>scene</scene><ambient_light>0.4 0.4 0.4</ambient_light><background_color>0.8 0.8 0.8</background_color><camera_pose>-6 0 6 0 0.5 0</camera_pose><camera_clip><near>0.25</near><far>25000</far></camera_clip></plugin><!-- Plugins that add functionality to the scene --><plugin filename="EntityContextMenuPlugin" name="Entity context menu"><gz-gui><property key="state" type="string">floating</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="GzSceneManager" name="Scene Manager"><gz-gui><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="InteractiveViewControl" name="Interactive view control"><gz-gui><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="CameraTracking" name="Camera Tracking"><gz-gui><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="MarkerManager" name="Marker manager"><gz-gui><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="SelectEntities" name="Select Entities"><gz-gui><anchors target="Select entities"><line own="right" target="right"/><line own="top" target="top"/></anchors><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="VisualizationCapabilities" name="Visualization Capabilities"><gz-gui><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><plugin filename="Spawn" name="Spawn Entities"><gz-gui><anchors target="Select entities"><line own="right" target="right"/><line own="top" target="top"/></anchors><property key="resizable" type="bool">false</property><property key="width" type="double">5</property><property key="height" type="double">5</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property></gz-gui></plugin><!-- World control --><plugin filename="WorldControl" name="World control"><gz-gui><title>World control</title><property type="bool" key="showTitleBar">false</property><property type="bool" key="resizable">false</property><property type="double" key="height">72</property><property type="double" key="width">121</property><property type="double" key="z">1</property><property type="string" key="state">floating</property><anchors target="3D View"><line own="left" target="left"/><line own="bottom" target="bottom"/></anchors></gz-gui><play_pause>true</play_pause><step>true</step><start_paused>true</start_paused><use_event>true</use_event></plugin><!-- World statistics --><plugin filename="WorldStats" name="World stats"><gz-gui><title>World stats</title><property type="bool" key="showTitleBar">false</property><property type="bool" key="resizable">false</property><property type="double" key="height">110</property><property type="double" key="width">290</property><property type="double" key="z">1</property><property type="string" key="state">floating</property><anchors target="3D View"><line own="right" target="right"/><line own="bottom" target="bottom"/></anchors></gz-gui><sim_time>true</sim_time><real_time>true</real_time><real_time_factor>true</real_time_factor><iterations>true</iterations></plugin><!-- Insert simple shapes --><plugin filename="Shapes" name="Shapes"><gz-gui><property key="resizable" type="bool">false</property><property key="x" type="double">0</property><property key="y" type="double">0</property><property key="width" type="double">250</property><property key="height" type="double">50</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property><property key="cardBackground" type="string">#666666</property></gz-gui></plugin><!-- Insert lights --><plugin filename="Lights" name="Lights"><gz-gui><property key="resizable" type="bool">false</property><property key="x" type="double">250</property><property key="y" type="double">0</property><property key="width" type="double">150</property><property key="height" type="double">50</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property><property key="cardBackground" type="string">#666666</property></gz-gui></plugin><!-- Translate / rotate --><plugin filename="TransformControl" name="Transform control"><gz-gui><property key="resizable" type="bool">false</property><property key="x" type="double">0</property><property key="y" type="double">50</property><property key="width" type="double">250</property><property key="height" type="double">50</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property><property key="cardBackground" type="string">#777777</property></gz-gui></plugin><!-- Screenshot --><plugin filename="Screenshot" name="Screenshot"><gz-gui><property key="resizable" type="bool">false</property><property key="x" type="double">250</property><property key="y" type="double">50</property><property key="width" type="double">50</property><property key="height" type="double">50</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property><property key="cardBackground" type="string">#777777</property></gz-gui></plugin><!-- Video recorder --><plugin filename="VideoRecorder" name="VideoRecorder"><gz-gui><property key="resizable" type="bool">false</property><property key="x" type="double">300</property><property key="y" type="double">50</property><property key="width" type="double">50</property><property key="height" type="double">50</property><property key="state" type="string">floating</property><property key="showTitleBar" type="bool">false</property><property key="cardBackground" type="string">#777777</property></gz-gui><record_video><use_sim_time>true</use_sim_time><lockstep>false</lockstep><bitrate>4000000</bitrate></record_video></plugin><!-- Inspector --><plugin filename="ComponentInspector" name="Component inspector"><gz-gui><property type="string" key="state">docked_collapsed</property></gz-gui></plugin><!-- Entity tree --><plugin filename="EntityTree" name="Entity tree"><gz-gui><property type="string" key="state">docked_collapsed</property></gz-gui></plugin><!-- View angle --><plugin filename="ViewAngle" name="View angle"><gz-gui><property type="string" key="state">docked_collapsed</property></gz-gui></plugin><!-- KeyPublisher plugin--><plugin filename="KeyPublisher" name="Key Publisher"/></gui><light type="directional" name="sun"><cast_shadows>true</cast_shadows><pose>0 0 10 0 0 0</pose><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.2 0.2 0.2 1</specular><attenuation><range>1000</range><constant>0.9</constant><linear>0.01</linear><quadratic>0.001</quadratic></attenuation><direction>-0.5 0.1 -0.9</direction></light><model name="ground_plane"><static>true</static><link name="link"><collision name="collision"><geometry><plane><normal>0 0 1</normal></plane></geometry></collision><visual name="visual"><geometry><plane><normal>0 0 1</normal><size>100 100</size></plane></geometry><material><ambient>0.8 0.8 0.8 1</ambient><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.8 0.8 0.8 1</specular></material></visual></link></model><model name='vehicle_blue' canonical_link='chassis'><pose relative_to='world'>0 0 1 0 0 0</pose>   <!--the pose is relative to the world by default--><frame name="lidar_frame" attached_to='chassis'><pose>0.8 0 0.5 0 0 0</pose></frame><link name='chassis'><pose relative_to='__model__'>0.5 0 0.4 0 0 0</pose><inertial> <!--inertial properties of the link mass, inertia matix--><mass>1.14395</mass><inertia><ixx>0.126164</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.416519</iyy><iyz>0</iyz><izz>0.481014</izz></inertia></inertial><visual name='visual'><geometry><box><size>2.0 1.0 0.5</size> <!--question: this size is in meter--></box></geometry><!--let's add color to our link--><material><ambient>0.0 0.0 1.0 1</ambient><diffuse>0.0 0.0 1.0 1</diffuse><specular>0.0 0.0 1.0 1</specular></material></visual><collision name='collision'> <!--todo: describe why we need the collision--><geometry><box><size>2.0 1.0 0.5</size></box></geometry></collision><sensor name="imu_sensor" type="imu"><always_on>1</always_on><update_rate>1</update_rate><visualize>true</visualize><topic>imu</topic></sensor><sensor name='gpu_lidar' type='gpu_lidar'>"<pose relative_to='lidar_frame'>0 0 0 0 0 0</pose><topic>lidar</topic><update_rate>10</update_rate><ray><scan><horizontal><samples>640</samples><resolution>1</resolution><min_angle>-1.396263</min_angle><max_angle>1.396263</max_angle></horizontal><vertical><samples>1</samples><resolution>0.01</resolution><min_angle>0</min_angle><max_angle>0</max_angle></vertical></scan><range><min>0.08</min><max>10.0</max><resolution>0.01</resolution></range></ray><alwaysOn>1</alwaysOn><visualize>true</visualize></sensor></link><!--let's build the left wheel--><link name='left_wheel'><pose relative_to="chassis">-0.5 0.6 0 -1.5707 0 0</pose> <!--angles are in radian--><inertial><mass>2</mass><inertia><ixx>0.145833</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.145833</iyy><iyz>0</iyz><izz>0.125</izz></inertia></inertial><visual name='visual'><geometry><cylinder><radius>0.4</radius><length>0.2</length></cylinder></geometry><material><ambient>1.0 0.0 0.0 1</ambient><diffuse>1.0 0.0 0.0 1</diffuse><specular>1.0 0.0 0.0 1</specular></material></visual><collision name='collision'><geometry><cylinder><radius>0.4</radius><length>0.2</length></cylinder></geometry></collision></link><!--copy and paste for right wheel but change position--><link name='right_wheel'><pose relative_to="chassis">-0.5 -0.6 0 -1.5707 0 0</pose> <!--angles are in radian--><inertial><mass>1</mass><inertia><ixx>0.145833</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.145833</iyy><iyz>0</iyz><izz>0.125</izz></inertia></inertial><visual name='visual'><geometry><cylinder><radius>0.4</radius><length>0.2</length></cylinder></geometry><material><ambient>1.0 0.0 0.0 1</ambient><diffuse>1.0 0.0 0.0 1</diffuse><specular>1.0 0.0 0.0 1</specular></material></visual><collision name='collision'><geometry><cylinder><radius>0.4</radius><length>0.2</length></cylinder></geometry></collision></link><frame name="caster_frame" attached_to='chassis'><pose>0.8 0 -0.2 0 0 0</pose></frame><!--caster wheel--><link name='caster'><pose relative_to='caster_frame'/><inertial><mass>1</mass><inertia><ixx>0.1</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.1</iyy><iyz>0</iyz><izz>0.1</izz></inertia></inertial><visual name='visual'><geometry><sphere><radius>0.2</radius></sphere></geometry><material><ambient>0.0 1 0.0 1</ambient><diffuse>0.0 1 0.0 1</diffuse><specular>0.0 1 0.0 1</specular></material></visual><collision name='collision'><geometry><sphere><radius>0.2</radius></sphere></geometry></collision></link><!--connecting these links together using joints--><joint name='left_wheel_joint' type='revolute'> <!--continous joint is not supported yet--><pose relative_to='left_wheel'/><parent>chassis</parent><child>left_wheel</child><axis><xyz expressed_in='__model__'>0 1 0</xyz> <!--can be descired to any frame or even arbitrary frames--><limit><lower>-1.79769e+308</lower>    <!--negative infinity--><upper>1.79769e+308</upper>     <!--positive infinity--></limit></axis></joint><joint name='right_wheel_joint' type='revolute'><pose relative_to='right_wheel'/><parent>chassis</parent><child>right_wheel</child><axis><xyz expressed_in='__model__'>0 1 0</xyz><limit><lower>-1.79769e+308</lower>    <!--negative infinity--><upper>1.79769e+308</upper>     <!--positive infinity--></limit></axis></joint><!--different type of joints ball joint--> <!--defult value is the child--><joint name='caster_wheel' type='ball'><parent>chassis</parent><child>caster</child></joint><!--diff drive plugin--><pluginfilename="ignition-gazebo-diff-drive-system"name="ignition::gazebo::systems::DiffDrive"><left_joint>left_wheel_joint</left_joint><right_joint>right_wheel_joint</right_joint><wheel_separation>1.2</wheel_separation><wheel_radius>0.4</wheel_radius><odom_publish_frequency>1</odom_publish_frequency><topic>cmd_vel</topic></plugin></model><!--wall--><model name='wall'><static>true</static><pose>5 0 0 0 0 0</pose><!--pose relative to the world--><link name='box'><pose/><inertial> <!--inertial properties of the link mass, inertia matix--><mass>1.14395</mass><inertia><ixx>9.532917</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.023832</iyy><iyz>0</iyz><izz>9.556749</izz></inertia></inertial><visual name='visual'><geometry><box><size>0.5 10.0 2.0</size></box></geometry><!--let's add color to our link--><material><ambient>0.0 0.0 1.0 1</ambient><diffuse>0.0 0.0 1.0 1</diffuse><specular>0.0 0.0 1.0 1</specular></material></visual><collision name='collision'> <!--todo: describe why we need the collision--><geometry><box><size>0.5 10.0 2.0</size></box></geometry></collision><sensor name='sensor_contact' type='contact'><contact><collision>collision</collision></contact></sensor></link><plugin filename="ignition-gazebo-touchplugin-system"name="ignition::gazebo::systems::TouchPlugin"><target>vehicle_blue</target><namespace>wall</namespace><time>0.001</time><enabled>true</enabled></plugin></model><!-- Moving Forward--><plugin filename="ignition-gazebo-triggered-publisher-system"name="ignition::gazebo::systems::TriggeredPublisher"><input type="ignition.msgs.Int32" topic="/keyboard/keypress"><match field="data">16777235</match></input><output type="ignition.msgs.Twist" topic="/cmd_vel">linear: {x: 0.5}, angular: {z: 0.0}</output></plugin><!-- Moving Backward--><plugin filename="ignition-gazebo-triggered-publisher-system"name="ignition::gazebo::systems::TriggeredPublisher"><input type="ignition.msgs.Int32" topic="/keyboard/keypress"><match field="data">16777237</match></input><output type="ignition.msgs.Twist" topic="/cmd_vel">linear: {x: -0.5}, angular: {z: 0.0}</output></plugin><!-- Rotating right--><plugin filename="ignition-gazebo-triggered-publisher-system"name="ignition::gazebo::systems::TriggeredPublisher"><input type="ignition.msgs.Int32" topic="/keyboard/keypress"><match field="data">16777236</match></input><output type="ignition.msgs.Twist" topic="/cmd_vel">linear: {x: 0.0}, angular: {z: -0.5}</output></plugin><!--Rotating left--><plugin filename="ignition-gazebo-triggered-publisher-system"name="ignition::gazebo::systems::TriggeredPublisher"><input type="ignition.msgs.Int32" topic="/keyboard/keypress"><match field="data">16777234</match></input><output type="ignition.msgs.Twist" topic="/cmd_vel">linear: {x: 0.0}, angular: {z: 0.5}</output></plugin><!--stop when hit the wall--><plugin filename="ignition-gazebo-triggered-publisher-system"name="ignition::gazebo::systems::TriggeredPublisher"><input type="ignition.msgs.Boolean" topic="/wall/touched"><match>data: true</match></input><output type="ignition.msgs.Twist" topic="/cmd_vel">linear: {x: 0.0}, angular: {z: 0.0}</output></plugin></world>
</sdf>