如何使用？
参考gazebo harmonic的官方教程。

本人使用harmonic的template，在里面进行修改就可以分流畅地使用下去。

以下是world 文件.

<?xml version="1.0" ?>
<!--Try sending commands:gz topic -t "/model/diff_drive/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}, angular: {z: -0.1}"ros2 topic pub /diff_drive/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.1}}"Listen to odometry:gz topic -e -t /model/diff_drive/odometryros2 topic echo /model/diff_drive/odometry
-->
<sdf version="1.8"><world name="slam_demo"><pluginfilename="gz-sim-physics-system"name="gz::sim::systems::Physics"></plugin><pluginfilename="gz-sim-sensors-system"name="gz::sim::systems::Sensors"><render_engine>ogre2</render_engine></plugin><pluginfilename="gz-sim-scene-broadcaster-system"name="gz::sim::systems::SceneBroadcaster"></plugin><pluginfilename="gz-sim-user-commands-system"name="gz::sim::systems::UserCommands"></plugin><pluginfilename="BasicSystem"name="ros_gz_example_gazebo::BasicSystem"></plugin><pluginfilename="FullSystem"name="ros_gz_example_gazebo::FullSystem"></plugin><light name="sun" type="directional"><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><size>100 100</size></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="diff_drive"><self_collide>true</self_collide><pose>0 0 0.35 0 0 0</pose><include merge="true"><uri>package://ros_gz_example_description/models/diff_drive</uri></include><pluginfilename="gz-sim-joint-state-publisher-system"name="gz::sim::systems::JointStatePublisher"></plugin><pluginfilename="gz-sim-pose-publisher-system"name="gz::sim::systems::PosePublisher"><publish_link_pose>true</publish_link_pose><use_pose_vector_msg>true</use_pose_vector_msg><static_publisher>true</static_publisher><static_update_frequency>1</static_update_frequency></plugin><pluginfilename="gz-sim-odometry-publisher-system"name="gz::sim::systems::OdometryPublisher"><odom_frame>diff_drive/odom</odom_frame><robot_base_frame>diff_drive</robot_base_frame></plugin></model><!-- 北墙 --><model name="wall_north"><static>true</static><pose>0 11 1 0 0 0</pose> <!-- Y 坐标从 8 增加到 11 --><link name="link"><collision name="collision"><geometry><box><size>22 0.4 2</size> <!-- 长度从 16 增加到 22 --></box></geometry></collision><visual name="visual"><geometry><box><size>22 0.4 2</size></box></geometry><material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.6 0.6 0.6 1</diffuse><specular>0.7 0.7 0.7 1</specular></material></visual></link></model><!-- 南墙 --><model name="wall_south"><static>true</static><pose>0 -11 1 0 0 0</pose> <!-- Y 坐标从 -8 减少到 -11 --><link name="link"><collision name="collision"><geometry><box><size>22 0.4 2</size></box></geometry></collision><visual name="visual"><geometry><box><size>22 0.4 2</size></box></geometry><material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.6 0.6 0.6 1</diffuse><specular>0.7 0.7 0.7 1</specular></material></visual></link></model><!-- 东墙 --><model name="wall_east"><static>true</static><pose>11 0 1 0 0 1.5708</pose> <!-- X 坐标从 8 增加到 11 --><link name="link"><collision name="collision"><geometry><box><size>22 0.4 2</size> <!-- 长度从 16 增加到 22 --></box></geometry></collision><visual name="visual"><geometry><box><size>22 0.4 2</size></box></geometry><material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.6 0.6 0.6 1</diffuse><specular>0.7 0.7 0.7 1</specular></material></visual></link></model><!-- 西墙 --><model name="wall_west"><static>true</static><pose>-11 0 1 0 0 1.5708</pose> <!-- X 坐标从 -8 减少到 -11 --><link name="link"><collision name="collision"><geometry><box><size>22 0.4 2</size></box></geometry></collision><visual name="visual"><geometry><box><size>22 0.4 2</size></box></geometry><material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.6 0.6 0.6 1</diffuse><specular>0.7 0.7 0.7 1</specular></material></visual></link></model><!-- 分隔客厅和上方房间 -->
<model name="partition_living_to_rooms"><static>true</static><pose>0 2.5 1 0 0 0</pose> <!-- 墙体中心位置：X=0, Y=2.5, Z=1 --><link name="link"><collision name="collision"><geometry><box><size>12 0.4 2</size> <!-- 墙体长度=12, 厚度=0.4, 高度=2 --></box></geometry></collision><visual name="visual"><geometry><box><size>12 0.4 2</size></box></geometry><material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.6 0.6 0.6 1</diffuse><specular>0.7 0.7 0.7 1</specular></material></visual></link>
</model><!-- 分隔左边房间和小走廊 -->
<model name="partition_left_room_to_corridor"><static>true</static><pose>-1.5 5 1 0 0 0</pose> <!-- 墙体中心位置：X=-1.5, Y=5, Z=1 --><link name="link"><collision name="collision"><geometry><box><size>3 0.4 2</size> <!-- 墙体长度=3, 厚度=0.4, 高度=2 --></box></geometry></collision><visual name="visual"><geometry><box><size>3 0.4 2</size></box></geometry><material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.6 0.6 0.6 1</diffuse><specular>0.7 0.7 0.7 1</specular></material></visual></link>
</model></world>
</sdf>
``