修改成虛擬機(jī)IP地址

  ipaddress = '192.168.137.129';

初始化

 rosinit(ipaddress)

獲取gazebo元素

 gazebo = ExampleHelperGazeboCommunicator();

新建并放置三個(gè)可以打開(kāi)的門(mén)

 doormodel = ExampleHelperGazeboModel('hinged_door','gazeboDB');

 door1 = spawnModel(gazebo,doormodel,[-1.5 2.0 0]);

 door2 = spawnModel(gazebo,doormodel,[-1.5 0.5 0],[0 0 pi]);

 door3 = spawnModel(gazebo,doormodel,[-1.5 -2.5 0]);

獲取第一個(gè)門(mén)的運(yùn)動(dòng)副

 [links, joints] = getComponents(door1);

在第一個(gè)門(mén)的運(yùn)動(dòng)副上施加作用效果

 stopTime = 5; % Seconds 

 effort = 3.0; % Newton-meters

 jointTorque(door1, joints{2}, stopTime, effort);

在第二個(gè)門(mén)的運(yùn)動(dòng)副上施加力矩

 forceVector = [0 0 0];     % Newtons

 torqueVector = [0 0 3];    % Newton-meters

 applyForce(door2, links{2}, stopTime, forceVector, torqueVector);

在第二個(gè)門(mén)的運(yùn)動(dòng)副上施加力

 forceVector = [0 -2 0];     % Newtons

 applyForce(door2, links{2}, stopTime, forceVector);

直接設(shè)置第三個(gè)門(mén)的運(yùn)動(dòng)副狀態(tài)

 angdelta = 0.1;    % Radians

 dt = 0;            % Seconds

 angle = 0;         % Radians

 tic

 while (toc < stopTime)

     if angle > 1.5 || angle < 0     % In radians

         angdelta = -angdelta;        

     end

     angle = angle+angdelta;        

     setConfig(door3,joints{2},angle); 

     pause(dt);

 end

新建并放置一個(gè)新的移動(dòng)robot

 botmodel = ExampleHelperGazeboModel('turtlebot','gazeboDB');

 bot = spawnModel(gazebo,botmodel,[1,0,0]);

設(shè)置robot的姿態(tài)

 setState(bot,'orientation',[0 0 pi/2]);

獲取robot的運(yùn)動(dòng)副

[botlinks, botjoints] = getComponents(bot);

在robot的運(yùn)動(dòng)副上施加作用效果

turnStopTime = 1;       % Seconds

turnEffort = 0.2;       % Newton-meters

jointTorque(bot, botjoints{2}, turnStopTime, turnEffort)

新建并放置一個(gè)新的移動(dòng)robot2

 bot2 = spawnModel(gazebo,botmodel,[2,0,0]);

 [botlinks2, botjoints2] = getComponents(bot2);

在robot2的運(yùn)動(dòng)副上施加作用力

 applyForce(bot2,botlinks2{1},2,[0 1 0]);

 在robot2的運(yùn)動(dòng)副上施加作用力

 applyForce(bot2,botlinks2{1},2,[1 0 0]);

在robot2的運(yùn)動(dòng)副上施加作用力矩

 applyForce(bot2,botlinks2{1},2,[0 0 0],[0 0 1]);

新建具有彈性的小球

 bounce = 1;    % Unitless coefficient

 maxCorrectionVelocity = 10;    % Meters per second

 ballmodel = ExampleHelperGazeboModel('ball');

 addLink(ballmodel,'sphere',0.2,'color',[0.3 0.7 0.7 0.5],'bounce',[bounce maxCorrectionVelocity]);

放置具有彈性的一高一低小球兩個(gè)

 spawnModel(gazebo,ballmodel,[0 1 2]);

 spawnModel(gazebo,ballmodel,[0 1 3]);

 pause(5);

清除gazebo中的物體

 exampleHelperGazeboCleanupApplyForces;

情況變量

clear

關(guān)閉連接

rosshutdown