diff --git a/.gitignore b/.gitignore index e69de29..c9030b7 100644 --- a/.gitignore +++ b/.gitignore @@ -0,0 +1,14 @@ + +# PMS — 容器运行时产物（勿提交） +.env +.pms-task-env.json +.bashrc +.bash_profile +.config/ +.local/ +.vnc/ +.cache/ +.gz/ +models/ +Desktop/ +.ICEauthority diff --git a/autorun_logs/autorun_20260728_134117/warehouse_gzsim.log b/autorun_logs/autorun_20260728_134117/warehouse_gzsim.log new file mode 100644 index 0000000..187f048 --- /dev/null +++ b/autorun_logs/autorun_20260728_134117/warehouse_gzsim.log @@ -0,0 +1,47 @@ +[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-07-28-13-41-19-756102-ip-172-31-51-90.cn-northwest-1.compute.internal-496 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [ruby $(which gz) sim-1]: process started with pid [511] +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF. +[INFO] [robot_state_publisher-2]: process started with pid [536] +[INFO] [create-3]: process started with pid [538] +[create-3] [INFO] [1785217288.454022532] [ros_gz_sim]: Requesting list of world names. +[robot_state_publisher-2] [INFO] [1785217288.459342620] [robot_state_publisher]: got segment back_left_wheel +[robot_state_publisher-2] [INFO] [1785217288.459429811] [robot_state_publisher]: got segment back_right_wheel +[robot_state_publisher-2] [INFO] [1785217288.459436699] [robot_state_publisher]: got segment base_footprint +[robot_state_publisher-2] [INFO] [1785217288.459441691] [robot_state_publisher]: got segment base_link +[robot_state_publisher-2] [INFO] [1785217288.459445773] [robot_state_publisher]: got segment chassis_link +[robot_state_publisher-2] [INFO] [1785217288.459449715] [robot_state_publisher]: got segment front_left_wheel +[robot_state_publisher-2] [INFO] [1785217288.459453420] [robot_state_publisher]: got segment front_right_wheel +[robot_state_publisher-2] [INFO] [1785217288.459457443] [robot_state_publisher]: got segment imu_frame +[robot_state_publisher-2] [INFO] [1785217288.459461130] [robot_state_publisher]: got segment middle_left_wheel +[robot_state_publisher-2] [INFO] [1785217288.459464818] [robot_state_publisher]: got segment middle_right_wheel +[robot_state_publisher-2] [INFO] [1785217288.459468484] [robot_state_publisher]: got segment roof_link +[create-3] [INFO] [1785217288.655620742] [ros_gz_sim]: Waiting messages on topic [/robot_description]. +[create-3] [INFO] [1785217288.667105759] [ros_gz_sim]: Requested creation of entity. +[create-3] [INFO] [1785217288.667150067] [ros_gz_sim]: OK creation of entity. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id::L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. +[INFO] [create-3]: process has finished cleanly [pid 538] diff --git a/autorun_logs/autorun_20260728_134117/websocket.log b/autorun_logs/autorun_20260728_134117/websocket.log new file mode 100644 index 0000000..e69de29 diff --git a/autorun_logs/autorun_20260804_171428/warehouse_gzsim.log b/autorun_logs/autorun_20260804_171428/warehouse_gzsim.log new file mode 100644 index 0000000..4ad2234 --- /dev/null +++ b/autorun_logs/autorun_20260804_171428/warehouse_gzsim.log @@ -0,0 +1,47 @@ +[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-04-17-14-29-468034-ip-172-31-73-134.cn-northwest-1.compute.internal-427 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [ruby $(which gz) sim-1]: process started with pid [429] +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF. +[INFO] [robot_state_publisher-2]: process started with pid [442] +[INFO] [create-3]: process started with pid [444] +[create-3] [INFO] [1785834877.926024020] [ros_gz_sim]: Requesting list of world names. +[robot_state_publisher-2] [INFO] [1785834877.946072327] [robot_state_publisher]: got segment back_left_wheel +[robot_state_publisher-2] [INFO] [1785834877.946141630] [robot_state_publisher]: got segment back_right_wheel +[robot_state_publisher-2] [INFO] [1785834877.946148686] [robot_state_publisher]: got segment base_footprint +[robot_state_publisher-2] [INFO] [1785834877.946152958] [robot_state_publisher]: got segment base_link +[robot_state_publisher-2] [INFO] [1785834877.946156900] [robot_state_publisher]: got segment chassis_link +[robot_state_publisher-2] [INFO] [1785834877.946160922] [robot_state_publisher]: got segment front_left_wheel +[robot_state_publisher-2] [INFO] [1785834877.946164623] [robot_state_publisher]: got segment front_right_wheel +[robot_state_publisher-2] [INFO] [1785834877.946168257] [robot_state_publisher]: got segment imu_frame +[robot_state_publisher-2] [INFO] [1785834877.946171757] [robot_state_publisher]: got segment middle_left_wheel +[robot_state_publisher-2] [INFO] [1785834877.946175160] [robot_state_publisher]: got segment middle_right_wheel +[robot_state_publisher-2] [INFO] [1785834877.946178607] [robot_state_publisher]: got segment roof_link +[create-3] [INFO] [1785834878.127222835] [ros_gz_sim]: Waiting messages on topic [/robot_description]. +[create-3] [INFO] [1785834878.138171058] [ros_gz_sim]: Requested creation of entity. +[create-3] [INFO] [1785834878.138194737] [ros_gz_sim]: OK creation of entity. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id::L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. +[INFO] [create-3]: process has finished cleanly [pid 444] diff --git a/autorun_logs/autorun_20260804_171428/websocket.log b/autorun_logs/autorun_20260804_171428/websocket.log new file mode 100644 index 0000000..e69de29 diff --git a/autorun_logs/autorun_20260810_163656/warehouse_gzsim.log b/autorun_logs/autorun_20260810_163656/warehouse_gzsim.log new file mode 100644 index 0000000..2001ff3 --- /dev/null +++ b/autorun_logs/autorun_20260810_163656/warehouse_gzsim.log @@ -0,0 +1,47 @@ +[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-10-16-36-58-493098-ip-172-31-58-10.cn-northwest-1.compute.internal-455 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [ruby $(which gz) sim-1]: process started with pid [457] +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF. +[INFO] [robot_state_publisher-2]: process started with pid [542] +[INFO] [create-3]: process started with pid [544] +[create-3] [INFO] [1786351027.014688708] [ros_gz_sim]: Requesting list of world names. +[robot_state_publisher-2] [INFO] [1786351027.038421690] [robot_state_publisher]: got segment back_left_wheel +[robot_state_publisher-2] [INFO] [1786351027.038495696] [robot_state_publisher]: got segment back_right_wheel +[robot_state_publisher-2] [INFO] [1786351027.038503197] [robot_state_publisher]: got segment base_footprint +[robot_state_publisher-2] [INFO] [1786351027.038507531] [robot_state_publisher]: got segment base_link +[robot_state_publisher-2] [INFO] [1786351027.038511783] [robot_state_publisher]: got segment chassis_link +[robot_state_publisher-2] [INFO] [1786351027.038515590] [robot_state_publisher]: got segment front_left_wheel +[robot_state_publisher-2] [INFO] [1786351027.038519113] [robot_state_publisher]: got segment front_right_wheel +[robot_state_publisher-2] [INFO] [1786351027.038522554] [robot_state_publisher]: got segment imu_frame +[robot_state_publisher-2] [INFO] [1786351027.038526058] [robot_state_publisher]: got segment middle_left_wheel +[robot_state_publisher-2] [INFO] [1786351027.038529400] [robot_state_publisher]: got segment middle_right_wheel +[robot_state_publisher-2] [INFO] [1786351027.038532944] [robot_state_publisher]: got segment roof_link +[create-3] [INFO] [1786351027.215949483] [ros_gz_sim]: Waiting messages on topic [/robot_description]. +[create-3] [INFO] [1786351027.226917318] [ros_gz_sim]: Requested creation of entity. +[create-3] [INFO] [1786351027.226941240] [ros_gz_sim]: OK creation of entity. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id::L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. +[INFO] [create-3]: process has finished cleanly [pid 544] diff --git a/autorun_logs/autorun_20260810_163656/websocket.log b/autorun_logs/autorun_20260810_163656/websocket.log new file mode 100644 index 0000000..e69de29 diff --git a/autorun_logs/autorun_20260818_111644/warehouse_gzsim.log b/autorun_logs/autorun_20260818_111644/warehouse_gzsim.log new file mode 100644 index 0000000..f4360ee --- /dev/null +++ b/autorun_logs/autorun_20260818_111644/warehouse_gzsim.log @@ -0,0 +1,47 @@ +[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-18-11-16-45-883586-ip-172-31-53-112.cn-northwest-1.compute.internal-435 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [ruby $(which gz) sim-1]: process started with pid [437] +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF. +[INFO] [robot_state_publisher-2]: process started with pid [504] +[INFO] [create-3]: process started with pid [506] +[create-3] [INFO] [1787023014.387462602] [ros_gz_sim]: Requesting list of world names. +[robot_state_publisher-2] [INFO] [1787023014.410511894] [robot_state_publisher]: got segment back_left_wheel +[robot_state_publisher-2] [INFO] [1787023014.410579361] [robot_state_publisher]: got segment back_right_wheel +[robot_state_publisher-2] [INFO] [1787023014.410586025] [robot_state_publisher]: got segment base_footprint +[robot_state_publisher-2] [INFO] [1787023014.410590055] [robot_state_publisher]: got segment base_link +[robot_state_publisher-2] [INFO] [1787023014.410593574] [robot_state_publisher]: got segment chassis_link +[robot_state_publisher-2] [INFO] [1787023014.410597155] [robot_state_publisher]: got segment front_left_wheel +[robot_state_publisher-2] [INFO] [1787023014.410600643] [robot_state_publisher]: got segment front_right_wheel +[robot_state_publisher-2] [INFO] [1787023014.410603955] [robot_state_publisher]: got segment imu_frame +[robot_state_publisher-2] [INFO] [1787023014.410607271] [robot_state_publisher]: got segment middle_left_wheel +[robot_state_publisher-2] [INFO] [1787023014.410610617] [robot_state_publisher]: got segment middle_right_wheel +[robot_state_publisher-2] [INFO] [1787023014.410613888] [robot_state_publisher]: got segment roof_link +[create-3] [INFO] [1787023014.588673480] [ros_gz_sim]: Waiting messages on topic [/robot_description]. +[create-3] [INFO] [1787023014.599543392] [ros_gz_sim]: Requested creation of entity. +[create-3] [INFO] [1787023014.599581268] [ros_gz_sim]: OK creation of entity. +[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id::L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. +[INFO] [create-3]: process has finished cleanly [pid 506] diff --git a/autorun_logs/autorun_20260818_111644/websocket.log b/autorun_logs/autorun_20260818_111644/websocket.log new file mode 100644 index 0000000..e69de29 diff --git a/doc.md b/doc.md index 31b9448..de8834d 100644 --- a/doc.md +++ b/doc.md @@ -1,34 +1,1145 @@ -# 仓库 3D 场景 +# Introduction to Gazebo Sim with ROS2 + +卡片名称：Gazebo中使用URDF创建机器人 + +描述：学习如何使用 URDF 语言在 Gazebo 仿真中创建机器人，最终完成一个可在 Gazebo 中正确加载和验证的移动机器人模型。 + +## 目录 + +- 1 简介 +- 2 Gazebo Sim、Ignition Gazebo 与 Gazebo Classic 对比 +- 3 为什么使用 URDF 而不是 SDF？ +- 4 创建移动机器人 +- 5 连杆与关节 +- 6 网格模型 +- 7 使用 Gazebo Sim 服务生成机器人 +- 8 使用 ROS2 Launch 文件生成机器人 +- 9 总结 + +
+ +## 1 简介 + +预计完成时间：**30 秒** +在本单元中，你将先梳理 **Gazebo Sim**、**Ignition Gazebo** 与 **Gazebo Classic** 的关系，再学习如何使用 **URDF** 语言为 Gazebo 仿真创建机器人。后续内容会逐步覆盖连杆、关节、网格模型以及机器人生成方式，最终完成一个可在 Gazebo 中正确加载和验证的移动机器人模型。 -## 场景预览 +
-![迷你仓库场景预览](doc/assets/warehouse_preview.png) +## 2 Gazebo Sim、Ignition Gazebo 与 Gazebo Classic 对比 + +预计完成时间：**5 分钟** + +### 什么是 Gazebo Sim？ + +**Gazebo Sim** 是一个 3D 动态模拟器，能够在复杂的室内和室外环境中准确高效地模拟机器人群体。虽然与游戏引擎类似，但 **Gazebo Sim** 提供了更高保真度的物理模拟、一套完整的传感器系统，以及面向用户和程序的接口。 + +**开源机器人基金会（OSRF）** 开发并维护 **Gazebo Sim**。 + +### 什么是 Ignition Gazebo？ + +**Gazebo Sim** 前身被称为 **Ignition Gazebo**。2022 年 4 月，Open Robotics 团队宣布弃用 **Ignition Gazebo** 这一名称，改用 **Gazebo Sim**。从 **Garden** 版本开始，**Ignition Gazebo** 已经完成重新品牌化，本课程也基于 **Garden** 版本构建，因此统一使用新的 **Gazebo Sim** 品牌和以 `gz` 开头的命令行工具。 + +例如，本课程里会使用 `gz model --list` 或 `gz topic -t /chatter "Hello!"` 这样的命令。如果你计划使用较早的 **Fortress** 版本，则需要把 `gz` 命令替换成 `ign` 命令。 + +**参考资料：** [https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) + +### Gazebo Sim 对机器人开发者有什么帮助？ + +**Gazebo Sim** 允许你在真实环境的动态模拟中测试机器人和算法。你可以选择多种物理引擎、高级 3D 图形、传感器及噪声模型、机器人插件以及现成的机器人模型库。此外，它运行在 TCP/IP 传输层之上，这使得网络集成变得简单，就像 ROS2 一样。 + +虽然 **Gazebo Classic**（版本 11）曾是 ROS 的默认模拟器，但它已经进入生命周期末期，且不适用于 `Humble` 之后的新版本 ROS2。新的 **Gazebo Sim** 会逐步取代 **Gazebo Classic**。 + +#### 可视化和调试 + +运行模拟可以提供你所需的关于环境和机器人的所有信息。你甚至可以调试软件和模拟本身，定位问题发生的位置。如果你想测试某种特定情况，也可以强制设定某个场景，反复运行软件直到获得足够的信息。 + +#### "快速失败，更快学习" + +你不需要在真实机器人上测试软件来发现问题和调整参数。在模拟机器人上失败更快、成本更低，也能比在真实机器人上试错更快地改进软件。 + +#### 构建机器人太昂贵了！ + +每个人都想在真实机器人上测试算法，但现实是拥有一台真实机器人太昂贵了。不仅购买构建机器人所需的全部组件很贵，把所有部件组装并协调工作也非常耗时，同时你还需要处理机械、电子和软件等多个方面的问题。 + +#### 社区支持 + +**Gazebo Sim** 是开源软件，由 **OSRF** 维护。它拥有一个充满活力的社区，鼓励用户使用、改进并彼此提供支持。 + +### Gazebo Sim 与 Gazebo Classic 的比较 + +Gazebo Sim 为仿真带来了新的工作方式，提供了一整套开发库和云服务工具来简化模拟流程。 + +它可以帮助你利用高保真的传感器数据流，在接近真实的环境中快速迭代物理设计；你也可以在安全环境下测试控制策略，并把模拟充分用在持续集成测试中。 + +虽然 **Gazebo Classic** 的大多数功能已经在 **Gazebo Sim** 中实现，但仍有部分功能尚未完全补齐。例如，Gazebo Sim 中长期被提及的一个问题是没有完整的“缩放模式”，模型暂时无法像 Classic 那样直接缩放。 + +**参考资料：** [https://gazebosim.org/docs/fortress/comparison](https://gazebosim.org/docs/fortress/comparison) + +在场景渲染方面，两者差异比较明显。**Gazebo Classic** 的画面更暗，在相同光照条件下阴影不够清晰；相比之下，**Gazebo Sim** 能更好地渲染亮度、光照和阴影细节。 + +| Gazebo Classic | Gazebo Sim | +| --- | --- | +| ![Gazebo Classic Scene](assets/unit1/01-gazebo-classic-scene.png) | ![Gazebo Sim Scene](assets/unit1/02-gazebo-sim-scene.png) | + +
+ +## 3 为什么使用 URDF 而不是 SDF？ + +预计完成时间：**30 秒** ---- +Gazebo Sim 使用 **SDF** 格式来描述**世界**、**模型**、**机器人**以及构建完整仿真所需的其他组件。那么，为什么这里要用 **URDF** 来构建机器人呢？ -## 启动（唯一命令，无需编译） +**ROS2** 的许多工具都是围绕 **URDF** 构建的，例如 **RVIZ2**。当你在 Gazebo 仿真中生成一个用 URDF 定义的机器人时，Gazebo Sim 会在底层自动把 URDF 文件转换为 SDF。 -卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。 +在下一单元中，当你把机器人生成到 Gazebo 仿真里并让它与 ROS2 配合工作时，会进一步看到这一点。 -```bash -./gzsim_run.sh +
+ +## 4 创建移动机器人 + +预计完成时间：**7 分钟** -| `./gzsim_stop.sh` | 停止仿真 | +要创建一个新的机器人模型，你需要按照特定的目录结构来组织机器人的定义文件和文件夹。 + +除了机器人的定义文件，也就是 **URDF** 文件之外，你还需要使用 launch 文件来调试机器人的创建过程。 + +创建一个功能包，并在其中新建以下文件夹： + +**在 Web Shell 1 中执行** + +``` +cd /workspace/src ``` -**必须等到**终端出现： - -```text -[autorun] GzWeb scene OK (... bytes), 9002 stable -[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板 +``` +ros2 pkg create robot_description --build-type ament_python --dependencies rclpy urdf xacro ``` +``` +mkdir -p robot_description/urdf +``` + +``` +touch robot_description/urdf/robot.urdf +``` + +**URDF** 文件夹将用于存放机器人的描述文件。 + +将下面的内容粘贴到 **robot.urdf** 文件中： + +**robot.urdf** + +``` + + + + + + + + + + + + + + + + + + + + + + + + + + + +``` + +使用下面的命令在该功能包中创建一个新的 launch 文件： + +**在 Web Shell 1 中执行** + +``` +cd /workspace/src +``` + +``` +mkdir -p robot_description/launch +``` + +``` +touch robot_description/launch/rviz.launch.py +``` + +**launch** 文件夹将用于存放使用 **RVIZ2** 调试该机器人模型所需的 launch 文件。 + +复制并粘贴以下内容： + +**rviz.launch.py** + +``` +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import Command +from launch_ros.actions import Node + +# ROS2 Launch System will look for this function definition # +def generate_launch_description(): + + # Get Package Description and Directory # + package_description = "robot_description" + package_directory = get_package_share_directory(package_description) + + # Load URDF File # + urdf_file = 'robot.urdf' + robot_desc_path = os.path.join(package_directory, "urdf", urdf_file) + print("URDF Loaded !") + + # Robot State Publisher (RSP) # + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher_node', + output="screen", + emulate_tty=True, + parameters=[{'use_sim_time': True, + 'robot_description': Command(['xacro ', robot_desc_path])}] + ) + + # RViz2 Launch Configuration (RViz) # + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2_node', + output='screen', + emulate_tty=True, + parameters=[{'use_sim_time': True}], + ) + + # Create and Return the Launch Description Object # + return LaunchDescription( + [ + robot_state_publisher_node, + rviz_node, + ] + ) +``` + +修改 `setup.py` 文件，确保 ROS2 Launch 系统能够检测并执行你在上面步骤中创建的 launch 文件。 + +将下面的内容复制到 `setup.py` 文件中，直接替换原有内容。 + +**setup.py** + +``` +import os +from glob import glob +from setuptools import setup + +package_name = 'robot_description' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'urdf'), glob('urdf/*.urdf')), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.*')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='user', + maintainer_email='user@todo.todo', + description='TODO: Package description', + license='TODO: License declaration', + entry_points={ + 'console_scripts': [ + ], + }, +) +``` + +新旧文件之间真正不同的只有下面这几行： + +``` +# imports +import os +from glob import glob +... + +# paths to urdf and launch files that must be copied to 'share' folder +(os.path.join('share', package_name, 'urdf'), glob('urdf/*.urdf')), +(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.*')), +``` +在平台右上角点击“分割右侧”和“远程桌面”，并等待连接。 + +![RViz](assets/unit1/03-1.png) + +按照下面的命令来启动你刚刚创建的文件： + +**在 Web Shell 1 中执行** + +``` +cd /workspace +``` + +``` +colcon build --packages-select robot_description && source install/setup.bash +``` + +``` +ros2 launch robot_description rviz.launch.py +``` + +启动该文件后，等待**图形化工具**打开。你应该会看到下图所示的结果。然后，在显示面板中添加 **RobotModel**，并将 `/robot_description` 设为**描述主题**。接着，把 RVIZ2 中的**固定坐标系**改为 **link_chassis**。这样就会把机器人的底盘连杆设为 **RVIZ2** 模型可视化的参考坐标系。 + +![RViz URDF First Launch](assets/unit1/03-rviz-urdf-first-launch.gif) + +把这个配置保存在你的工作区中，这样下次启动 RVIZ2 时，机器人模型就会被正确显示。 +按照下面的命令来创建rviz目录： + +**新建终端，在 Web Shell 2 中执行** + +``` +cd /workspace/src +``` + +``` +mkdir -p robot_description/rviz +``` + +在rviz2界面使用“ctrl+shift+s“，保存当前的 RVIZ2 配置到正确的工作目录下。 +![RViz](assets/unit1/03-2.png) +将当前的 RVIZ2 配置保存为 `config.rviz`，并放到你的 ROS2 `robot_description` 功能包中新建的 `rviz` 目录里。 + +把 `rviz` 文件夹添加到 `setup.py` 中，这样下次编译时就能检测到 `config.rviz`。 + +此时你的 `setup.py` 文件应该包含下面这三行： + +``` +(os.path.join('share', package_name, 'urdf'), glob('urdf/*.urdf')), +(os.path.join('share', package_name, 'rviz'), glob('rviz/*.rviz')), +(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.*')), +``` + +最后，把 `config.rviz` 文件作为参数传给 launch 文件中的 RVIZ 节点。 + +``` +# Load RViz Configuration File # + rviz_config_file = "config.rviz" + rviz_config_path = os.path.join(package_directory, "rviz", rviz_config_file) + print("RViz Config Loaded !") + + # Rviz2 Launch Configuration (RViz)# + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2_node', + output='screen', + emulate_tty=True, + parameters=[{'use_sim_time': True}], + arguments=['-d', rviz_config_path], + ) +``` + +现在你的 launch 文件应该如下所示： + +**rviz.launch.py** + +``` +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import Command +from launch_ros.actions import Node + +# ROS2 Launch System will look for this function definition # +def generate_launch_description(): + + # Get Package Description and Directory # + package_description = "robot_description" + package_directory = get_package_share_directory(package_description) + + # Load URDF File # + urdf_file = 'robot.urdf' + robot_desc_path = os.path.join(package_directory, "urdf", urdf_file) + print("URDF Loaded !") + + # Robot State Publisher (RSP) # + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher_node', + output="screen", + emulate_tty=True, + parameters=[{'use_sim_time': True, + 'robot_description': Command(['xacro ', robot_desc_path])}] + ) + + # Load RViz Configuration File # + rviz_config_file = "config.rviz" + rviz_config_path = os.path.join(package_directory, "rviz", rviz_config_file) + print("RViz Config Loaded !") + + # Rviz2 Launch Configuration (RViz)# + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2_node', + output='screen', + emulate_tty=True, + parameters=[{'use_sim_time': True}], + arguments=['-d', rviz_config_path], + ) + + # Create and Return the Launch Description Object # + return LaunchDescription( + [ + robot_state_publisher_node, + rviz_node, + ] + ) +``` + +
+ +## 5 连杆与关节 + +预计完成时间：**15 分钟** +### 连杆 + +你已经创建了第一个只有单一元素的机器人模型，也就是一个连杆。那么，一个连杆由哪些部分组成呢？ + +每个连杆都必须包含以下属性： + +##### 惯性属性 + +它包含 **质量（kg）**、**原点（m）** 和 **惯性矩阵（kg·m²）**。 + +``` + + + + + +``` + +##### 碰撞与可视属性 + +在这个例子中，**collision** 和 **visual** 看起来是相同的，但它们的用途不同。模拟器使用 **collision** 来计算连杆之间的物理交互；**visual** 仅用于渲染显示，不会影响连杆与其他对象的交互方式。 + +如果你的可视网格非常复杂，但又不希望在物理交互上做不必要的高强度计算，或者想节省算力，就可以让 **collision** 和 **visual** 使用不同的几何定义。 + +``` + + + + + + + + + + + +``` + +### 关节 + +关节用于连接各个连杆，并在它们之间建立运动关系。在本单元中，你要构建的是移动机器人，因此接下来要给你创建的底盘加上一只车轮。 + +继续在 **robot.urdf** 文件中，在 'link' 结束标签之后添加以下代码： + +**复制并粘贴** + +``` + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +``` + +### 车轮连杆定义 + +这里你有两组 **collision** 和 **visual** 标签，它们各自对应不同的部分。一个连杆中可以包含多组这样的标签，数量并不受限。它们都会按照关节的位置关系显示出来。 + +在这个例子里，你分别为车轮本体和它的轮轴创建了一组可视与碰撞定义。 + +重新启动 **rviz.launch.py** 文件。 + +**在 Web Shell 1 中执行** + +``` +cd /workspace +``` + +``` +colcon build --packages-select robot_description && source install/setup.bash +``` + +``` +ros2 launch robot_description rviz.launch.py +``` + +你应该得到如下结果： + +![RViz URDF Links Launch](assets/unit1/04-no-wheel1.png) + +但是等等……车轮去哪了？这里发生了什么？ + +这是因为你当前只运行了 **Robot State Publisher** 和 RViz。这个节点只会发布机器人**固定关节**的状态（这里是底盘），不会发布**可动关节**的状态（例如车轮）。如果想把这些可动关节显示出来，你还需要一个能够提供关节状态的节点，这就是 **Joint State Publisher GUI** 的作用。 + +要启动 **Joint State Publisher GUI**，请在一个新的 web shell 中运行以下命令： + +**在 Web Shell 2 中执行** + +``` +ros2 run joint_state_publisher_gui joint_state_publisher_gui +``` +**提示：** 如果无法运行请先执行： + +``` +sudo apt update +``` + +``` +sudo apt install ros-humble-joint-state-publisher-gui +``` + +``` +unset PYTHONPATH +``` + +``` +source /opt/ros/humble/setup.bash +``` + +现在你会看到类似下面的界面： + +![RViz URDF Links Launch](assets/unit1/05-rotate-wheel1.gif) + +注意，现在你已经可以通过滑块来控制车轮旋转了。 + +当然，这还不是车轮期望的安装位置或旋转方式。那么问题出在哪里呢？ + +### 关节定义 + +来看一下关节定义： + +``` + + + + + + + + +``` + +第一个属性 **type** 用来定义该连杆能够进行哪一种运动。常见类型包括 **continuous**、**revolute**、**prismatic** 和 **fixed**。除此之外还有其他类型，你可以在这里查看完整参考：[http://wiki.ros.org/urdf/XML/joint](http://wiki.ros.org/urdf/XML/joint)。 + +**origin** 属性用于定义关节相对于底盘的位置。底盘连杆起始于 **0 0 0**，长度为 2 米，宽度为 1.3 米。底盘会向两侧延伸，因此它的侧边界位于 **1.3/2**，也就是 **0.65 米** 的位置。 + +接着，需要定义 **child** 和 **parent** 连杆。再比如 **axis**，它用来指定转动轴。你还可以通过 **limit** 设置最大力矩和速度，不过现在这部分并不是重点。当前阶段你主要是在设计机器人的几何结构，而与运动动力学相关的 **joint properties** 会在后续再讨论。 + +最后来看 **axis** 定义。这里决定该连杆绕哪一个坐标轴旋转。在这个例子中，你希望它绕 Y 轴旋转，这个设置是正确的。 + +### 修正连杆定义以匹配关节旋转 + +问题在于，你的这个 **link** 圆柱几何体（长度和半径）是按照 Z 轴方向定义的，因此需要绕 X 轴旋转一下才能修正。 + +回到左轮的连杆定义，把 **collision** 和 **visual** 标签中的 **origin** 属性改成绕 X 轴旋转 90 度： + +``` + + ... + + + + + + + + + + + + + + + + + + + + + + + + + + ... +``` + +重新启动 **rviz.launch**，并同时运行 **Joint State Publisher GUI**。 + +**在 Web Shell 1 中执行** + +``` +cd /workspace +``` + +``` +colcon build --packages-select robot_description && source install/setup.bash +``` + +``` +ros2 launch robot_description rviz.launch.py +``` + +**在 Web Shell 2 中执行** + +``` +unset PYTHONPATH +source /opt/ros/humble/setup.bash +ros2 run joint_state_publisher_gui joint_state_publisher_gui +``` + +![RViz URDF Links Joints Launch](assets/unit1/06-rviz-urdf-links-joints-launch.gif) + +查看下图中的机器人尺寸，你会更容易理解为什么 XML 定义里使用的是这些数值： + +![Robot Dimensions](assets/unit1/07-robot-dimensions.png) + +**练习 2.5.1** + +完善当前模型并把它补全！ + +在这个练习中，再补充以下几个部分，让机器人更完整： + +- 添加**右侧车轮** +- 给两个车轮都添加新的 **visual** 元素，让旋转效果更明显（例如轮毂盖） +- 在机器人前方添加一个通过 **fixed** 关节连接的**脚轮** +- 修改并补充底盘和车轮的**材质颜色**，让它看起来尽量接近下图 + +![RViz URDF Ex22 Launch](assets/unit1/08-rviz-urdf-ex22-launch.gif) + +请参考下图来创建脚轮的固定关节以及可视部件。 + +![Robot Dimensions Extended](assets/unit1/09-robot-dimensions-extended.png) + +**注意：** 当前 ROS2 RVIZ2 中存在一个 Bug：URDF 中父连杆的颜色会传递到子连杆上，因此 RVIZ 中显示的颜色可能与 URDF 文件中的定义并不完全一致。更多信息请参考 RVIZ2 的[颜色 Bug](https://github.com/ros-visualization/rviz/issues/843)。 + +**练习 2.5.1 结束** + +
+ +**练习 2.5.1 参考答案** + +在你自己尝试完成练习之前，不要先看答案。完成之后再回头对照参考答案，会更有助于比较和检查自己的实现。 + +如果你在完成练习时遇到问题，可以到论坛寻求支持。 + +[robot.urdf](assets/files/robot1.urdf) + +**练习 2.5.1 参考答案结束** + +#### 参考资料 + +你可以在下面查看连杆和关节的完整规范（链接指向 ROS1 文档）： + +- [http://wiki.ros.org/urdf/XML/link](http://wiki.ros.org/urdf/XML/link) +- [http://wiki.ros.org/urdf/XML/joint](http://wiki.ros.org/urdf/XML/joint) + +在使用 XML 为 ROS2 定义机器人模型时，这些说明依然适用。 + +
+ +## 6 网格模型 + +预计完成时间：**10 分钟** +网格模型可以用来创建更复杂的三维几何形状。设想一下，你手上有一台真实机器人，整个项目是用 CAD 软件完成的，现在你想对它进行仿真，那么你通常会直接拥有模型文件。URDF 支持 **.stl** 和 **.dae** 文件，其中后者通常能提供更好的显示效果。 +下面来看如何在你当前制作的机器人中使用网格模型。 + +进入底盘的 **visual** 部分，并将下面这段代码替换掉： + +``` + + + +``` + +替换为以下内容： + +**复制并粘贴** + +``` + + + +``` + +URDF 支持 `package://` 这种写法，可以通过相对路径更方便地找到文件。这也意味着你的功能包中必须有一个 `meshes` 文件夹。先创建这个文件夹，然后上传下面的文件： + +**新建终端，在 Web Shell 3 中执行** + +``` +mkdir -p /workspace/src/robot_description/meshes/ +``` + +将这个 [chassis.stl](assets/files/chassis.stl) 文件放进你在 `robot_description` 功能包里创建的 `meshes` 文件夹。 + +把 `meshes` 文件夹添加到 `setup.py` 中，这样下次编译时就能检测到 `*.stl` 文件。 + +此时你的 `setup.py` 文件应该包含下面这四行： + +``` +(os.path.join('share', package_name, 'urdf'), glob('urdf/*.urdf')), +(os.path.join('share', package_name, 'rviz'), glob('rviz/*.rviz')), +(os.path.join('share', package_name, 'meshes'), glob('meshes/*.stl')), +(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.*')), +``` + +重新启动 **rviz.launch** 和 **Joint State Publisher GUI**，你应该看到如下结果： + +![Robot Chassis Mesh](assets/unit1/11-robot-chassis-mesh.png) + +注意，这个 **.stl** 文件会沿用基础几何体所设置的材质颜色。 + +**练习 2.6.1** + +为车轮也添加一个网格模型文件。 + +使用下面这个文件： + +- [wheel.stl](assets/files/wheel.stl) + +调整轮毂盖的可视效果，让机器人尽量接近下图所示的样子： + +![Robot Wheel Mesh](assets/unit1/12-robot-wheel-mesh.png) + +**练习 2.6.1 结束** + +
+ +**练习 2.6.1 参考答案** + +在自己尝试完成练习之前，不要先看答案。完成后再查看参考答案，会更方便你对比自己的实现。 + +如果你在完成练习时遇到问题，可以到论坛寻求支持。 + +[robot.urdf](assets/files/robot2.urdf) + +**练习 2.6.1 参考答案结束** + +
+ +## 7 使用 Gazebo Sim 服务生成机器人 + +预计完成时间：**5 分钟** + + +你已经把机器人搭建好了，它已经有了底盘和车轮，因此已经可以用于仿真了。下面来看看如何把它放进 Gazebo 仿真环境中。 + +你可以通过两种方式把机器人模型生成到 **Gazebo Sim** 中： + +1. 使用 Gazebo Sim 生成服务 +2. 使用 ROS 2 Launch 文件 + +#### 使用 Gazebo Sim 生成服务 + +虽然这不是把模型生成到 Gazebo Sim 中的首选方法，但你仍然可以借此观察模型在 Gazebo Sim 中生成后的行为。 + +这种方式会使用 Gazebo Sim 的 `create` 服务，它采用的是 **EntityFactory** 消息类型。 + +**注意：** +开始之前，请关闭并终止所有 web shell 中正在运行的任务。对所有活跃的 web shell 按下 `Ctrl + C` 来停止当前进程。 + +修改“远程桌面”面板，切换到“仿真器”。 + +![gazebo](assets/unit1/12-1.png) + +首先需要设置环境变量，为 Gazebo Sim 指定资源路径。 + +把模型的 URDF 文件路径以及相关网格文件路径都配置进去。 + +**在 Web Shell 1 中执行** + +``` +export GZ_SIM_RESOURCE_PATH=/workspace/src/robot_description/urdf:/workspace/src +``` + +现在以无头模式启动 Gazebo Sim 世界，这里我们使用空世界。 + +**在 Web Shell 1 中执行** + +``` +gz sim -s -r empty.sdf +``` + +**在 Web Shell 2 中执行** + +``` +bash /workspace/src/run_websocket.sh +``` + +在另一个终端中，使用下面的命令列出所有可用的服务： + +**在 Web Shell 3 中执行** + +``` +gz service --list +``` + +执行完上面的命令后，你会在仿真器里看到加载的空世界，并在输出中看到一个名为 `/world/empty/create` 的服务。通用的服务名称格式为 `/world//create`。例如，如果你的 world 文件中的世界名称是 `factory_floor`，那么服务名就会是 `/world/factory_floor/create`。 + +继续在同一个终端中，查看该服务的信息，以确认请求和响应所使用的消息类型。 + +**注意：** 和 ROS2 命令不同，这个命令不支持 Tab 自动补全，所以需要手动输入完整命令。 + +**在 Web Shell 3 中执行** + +``` +gz service --info --service /world/empty/create +``` + +执行完该命令后，你应该会看到与下图类似的输出： + +``` +Service providers [Address, Request Message Type, Response Message Type]: + tcp://192.168.32.7:37923, gz.msgs.EntityFactory, gz.msgs.Boolean +``` + +然后在同一个终端中输入下面的命令，将你的 URDF 模型生成到 **Gazebo Sim** 中： + +**注意：** 和 ROS2 命令不同，这个命令不支持 Tab 自动补全，所以需要手动输入完整命令。 + +**在 Web Shell 3 中执行** + +``` +cd /workspace/src/robot_description/urdf +``` + +``` +gz service --service /world/empty/create \ + --reqtype gz.msgs.EntityFactory \ + --reptype gz.msgs.Boolean \ + --timeout 1000 \ + --req 'sdf_filename: "robot.urdf" name: "my_robot"' +``` + +**注意：**`--req` 参数中的内容**不能**包含空格。如果你写入了空格，就会收到下面这样的报错： + +`The following arguments were not expected: "my_robot" name: "robot.urdf",` + +如果你正确完成了前面的步骤，那么执行生成服务命令后应该会返回 `data: true`。 + +查看 Gazebo Sim 界面时，你会发现机器人模型已经生成在 `x = 0.0, y = 0.0, and z = 0.0` 的位置。 + +
+ +## 8 使用 ROS2 Launch 文件生成机器人 + +预计完成时间：**10 分钟** + + +这是把模型生成到 Gazebo Sim 中最推荐的方法。通过这种可控的生成方式，你可以在需要时自动把模型插入 Gazebo Sim。 + +在 **launch** 文件夹中创建一个新文件 **empty_world.launch.py**，并写入相应内容。 + +**在 Web Shell 3 中执行** + +``` +touch /workspace/src/robot_description/launch/empty_world.launch.py +``` + +现在，把下面的代码复制到你刚刚创建的 launch 文件中。 + +**empty_world.launch.py** + +``` +import os +from ament_index_python.packages import (get_package_prefix, get_package_share_directory) +from launch import LaunchDescription +from launch.actions import (DeclareLaunchArgument, IncludeLaunchDescription) +from launch.substitutions import (PathJoinSubstitution, LaunchConfiguration) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import SetParameter + +# ROS2 Launch System will look for this function definition # +def generate_launch_description(): + + # Get Package Description and Directory # + package_description = "robot_description" + package_directory = get_package_share_directory(package_description) + + # Set the path to robot resources before launching Gazebo Sim # + install_dir_path = (get_package_prefix(package_description) + "/share") + robot_meshes_path = os.path.join(package_directory, "meshes") + gazebo_resource_paths = [install_dir_path, robot_meshes_path] + if "GZ_SIM_RESOURCE_PATH" in os.environ: + for resource_path in gazebo_resource_paths: + if resource_path not in os.environ["GZ_SIM_RESOURCE_PATH"]: + os.environ["GZ_SIM_RESOURCE_PATH"] += (':' + resource_path) + else: + os.environ["GZ_SIM_RESOURCE_PATH"] = (':'.join(gazebo_resource_paths)) + + # Load the empty world in headless server mode # + world_file = "empty.sdf" + world_config = LaunchConfiguration("world") + declare_world_arg = DeclareLaunchArgument( + "world", + default_value=["-s -r ", world_file], + description="Gazebo Sim world and startup flags", + ) + + # Declare GazeboSim Launch # + gzsim_pkg = get_package_share_directory("ros_gz_sim") + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([gzsim_pkg, "launch", "gz_sim.launch.py"])), + launch_arguments={"gz_args": world_config}.items(), + ) + + # Create and Return the Launch Description Object # + return LaunchDescription( + [ + declare_world_arg, + # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo) # + SetParameter(name="use_sim_time", value=True), + gz_sim, + ] + ) +``` + +启动仿真： + +**在 Web Shell 1 中执行** + +``` +cd /workspace +``` + +``` +colcon build --packages-select robot_description && source install/setup.bash +``` + +``` +ros2 launch robot_description empty_world.launch.py +``` + +**在 Web Shell 2 中执行** + +``` +bash /workspace/src/run_websocket.sh +``` + +等待仿真器界面刷新，你现在启动的是一个空世界。建议把生成机器人的逻辑放到单独的文件中，这样在开发过程中就可以不重启整个仿真，而是直接删除并重新生成机器人。 + +在launch目录下新建一个 **spawn.launch.py** 文件，并填入下面的内容： + +**在 Web Shell 3 中执行** + +``` +touch src/robot_description/launch/spawn.launch.py +``` + +**spawn.launch.py** + +``` +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import (Command, LaunchConfiguration) +from launch_ros.actions import (Node, SetParameter) + +# ROS2 Launch System will look for this function definition # +def generate_launch_description(): + + # Get Package Description and Directory # + package_description = "robot_description" + package_directory = get_package_share_directory(package_description) + + # Load URDF File # + urdf_file = 'robot.urdf' + robot_desc_path = os.path.join(package_directory, "urdf", urdf_file) + print("URDF Loaded !") + + # Robot State Publisher (RSP) # + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher_node', + output="screen", + emulate_tty=True, + parameters=[{'use_sim_time': True, + 'robot_description': Command(['xacro ', robot_desc_path])}] + ) + + # Spawn the Robot # + declare_spawn_x = DeclareLaunchArgument("x", default_value="0.0", + description="Model Spawn X Axis Value") + declare_spawn_y = DeclareLaunchArgument("y", default_value="0.0", + description="Model Spawn Y Axis Value") + declare_spawn_z = DeclareLaunchArgument("z", default_value="0.5", + description="Model Spawn Z Axis Value") + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + name="my_robot_spawn", + arguments=[ + "-name", "my_robot", + "-allow_renaming", "true", + "-topic", "robot_description", + "-x", LaunchConfiguration("x"), + "-y", LaunchConfiguration("y"), + "-z", LaunchConfiguration("z"), + ], + output="screen", + ) + + # Create and Return the Launch Description Object # + return LaunchDescription( + [ + # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo) # + SetParameter(name="use_sim_time", value=True), + robot_state_publisher_node, + declare_spawn_x, + declare_spawn_y, + declare_spawn_z, + gz_spawn_entity, + ] + ) +``` + +这个 CLI 允许你传入三个参数：X、Y 和 Z。运行这个 **ros_gz_sim/create** 节点后，它会把 URDF 模型转换并插入当前正在运行的 Gazebo 仿真中。 + +生成机器人： + +**在 Web Shell 3 中执行** + +``` +cd /workspace +``` + +``` +colcon build --packages-select robot_description && source install/setup.bash +``` + +``` +ros2 launch robot_description spawn.launch.py +``` + +结果应当类似下图： + +![Robot Spawn View](assets/unit1/14-robot-spawn-view.png) + +![Robot Spawn View CloseUp](assets/unit1/15-robot-spawn-view-closeup.png) + + +**练习 2.8.1** + +为 launch 文件新增一个参数，用来设置插入模型的名称。它需要把固定写死的 **my_robot** 名称替换为 CLI 中传入的名称。 + +预期结果是：执行下面的命令后，得到如下效果： + +``` +ros2 launch robot_description spawn.launch.py +# 生成完后退出 +``` + +``` +ros2 launch robot_description spawn.launch.py x:=5 y:=5 model_name:=my_robot_2 +``` + +![Expected Result Ex24](assets/unit1/17-expected-result-ex24.png) + +**练习 2.8.1 结束** + +
+ +**练习 2.8.1 参考答案** + +在自己动手尝试之前，不要先看答案。完成练习之后再查看参考答案，会更方便你对比自己的实现。 + +如果你在完成练习时遇到问题，可以到论坛寻求支持。 + +[spawn.launch.py](assets/files/spawn.launch.py) + +**练习 2.8.1 参考答案结束** + +
+ +## 9 总结 + +预计完成时间：**30 秒** + + +在本单元中，你学习了使用 **URDF** 构建机器人模型所需的基础元素，包括连杆、关节以及其他关键组件。你还动手创建了自己的机器人，并把它生成到 Gazebo 中，确保模型能够被正确加载，并准备好在仿真环境中进行交互。 diff --git a/install/bcr_bot/share/bcr_bot/launch/__pycache__/warehouse_gzweb.launch.cpython-310.pyc b/install/bcr_bot/share/bcr_bot/launch/__pycache__/warehouse_gzweb.launch.cpython-310.pyc new file mode 100644 index 0000000..1c6465c Binary files /dev/null and b/install/bcr_bot/share/bcr_bot/launch/__pycache__/warehouse_gzweb.launch.cpython-310.pyc differ diff --git a/install/bcr_bot/share/bcr_bot/launch/__pycache__/warehouse_spawn.launch.cpython-310.pyc b/install/bcr_bot/share/bcr_bot/launch/__pycache__/warehouse_spawn.launch.cpython-310.pyc new file mode 100644 index 0000000..ee89817 Binary files /dev/null and b/install/bcr_bot/share/bcr_bot/launch/__pycache__/warehouse_spawn.launch.cpython-310.pyc differ