ros_gz_sim+readme

ROS + Gazebo Sim

This package contains things that make it convenient to integrate ROS with Gazebo, such as:

• Launch files
• ROS-enabled executables

Run Gazebo Sim

There's a convenient launch file, try for example:

ros2 launch ros_gz_sim gz_sim.launch.py gz_args:="shapes.sdf"

Spawn entities

The?create?executable can be used to spawn SDF or URDF entities from:

• A file on disk or from Gazebo Fuel
• A ROS parameter

For example, start Gazebo Sim:

ros2 launch ros_gz_sim gz_sim.launch.py

?这一步后是空的里面什么都没有。

then spawn a model:

ros2 run ros_gz_sim create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'

?

看我使用create+urdf把这个机器人搞好了

这也许预示着不用从urdf转换为sdf了，哈哈?

See more options with:

ros2 run ros_gz_sim create --helpshort