Gazebo机器人仿真学习探索笔记（四）模型编辑

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可知，sdf爲1.6版本了。

附錄：官方文檔 Model Editor Overview

This tutorial describes the process of creating a model using the Model Editor. Open the Model Editor

Make sure Gazebo is installed. Start up gazebo. $ gazebo

On the Edit menu, Go to Model Editor, or hit Ctrl+M to open the editor.

Graphical user interface

The editor is composed of the following 2 areas:

The Palette on the left has two tabs. The Insert tab lets you insertparts (links and other models) into the scene to build the model. The Modeltab displays a list of all the parts that make up the model you are building.

The 3D View on the right where you can see a preview of your model andinteract with it to edit its properties and create joints between links.

The GUI tools on the top toolbar can be used to manipulate joints and links inthe 3D View. Add Links

Add simple shapes

The model editor has three simple primitive geometries that the user can insertinto the 3D view to make a link of the model.

On the Palette, click on the box, sphere, or cylinder icon underSimple Shapes.

Move your mouse cursor over the 3D view to see the visual appear, andclick/release anywhere to add it to the model.

Tip: You can press Esc to cancel adding the currentlink attached to the mouse cursor.

Add meshes

To add a custom mesh,

Click on the Add button under Custom Shapes, which pops up a dialogthat lets you find the mesh you want to add.

Click on Browse button and use the file browser to find the mesh fileon your local machine. If you know the path of the mesh file, you can enter itdirectly in the text field box next to the Browse button. Note Gazebocurrently only supports importing COLLADA (dae), STereoLithography (stl),and Scalable Vector Graphics (svg) files.

Click Import to load the mesh file. Then, add it to the 3D view.

Create Joints

The model editor supports creating several types of joints between links in themodel being edited. To create a joint:

Click on the joint icon on the tool bar. This brings up the Joint CreationDialog which allows you to specify different properties of the joint youwant to create. As you can see in the dialog, the