{"id":480,"date":"2026-03-09T14:58:06","date_gmt":"2026-03-09T06:58:06","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&#038;p=480"},"modified":"2026-04-01T11:08:39","modified_gmt":"2026-04-01T03:08:39","slug":"gazebo%e7%9a%84%e4%bd%bf%e7%94%a8","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e8%99%9a%e6%8b%9f%e6%9c%ba%e5%8f%8a%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83\/gazebo%e7%9a%84%e4%bd%bf%e7%94%a8","title":{"rendered":"Gazebo\u7684\u4f7f\u7528"},"content":{"rendered":"\n<p><strong>\u542f\u52a8Gazebo\uff1a<\/strong> Gazebo \u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u4eff\u771f\u5e73\u53f0\uff0c\u5e7f\u6cdb\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u3001\u6d4b\u8bd5\u548c\u7814\u7a76\u3002\u8fdb\u5165 Ubuntu \u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_gazebo sim.launch<\/pre>\n\n\n\n<p><strong>\u542f\u52a8\u793a\u4f8b\u7a0b\u5e8f\uff1a<\/strong> \u7b49\u5f85 Gazebo \u542f\u52a8\u540e\uff0c\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u793a\u4f8b\u7a0b\u5e8f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">roslaunch tutorial_vision run_yolo_detect.launch sign_x:=1.6 run_mavros:=false run_fast_lio:=false run_driver:=false<\/pre>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u8bbe\u7f6erun_mavros\u3001run_fast_lio\u3001run_driver\u4e09\u4e2a\u53c2\u6570\u4e3afalse\u7684\u539f\u56e0\uff1a \u5c06run_mavros\u8bbe\u7f6e\u4e3afalse\u8868\u793a\u4e0d\u542f\u52a8mavros\u9a71\u52a8\uff0c\u56e0\u4e3a\u5728\u4eff\u771f\u4e2d\u4e0d\u9700\u8981\u4e0e\u5b9e\u9645\u65e0\u4eba\u673a\u786c\u4ef6\u901a\u4fe1\uff0c\u4e14gazebo\u5728\u542f\u52a8\u65f6\u4f1a\u542f\u52a8\u865a\u62dfmavros\u9a71\u52a8\uff1b \u5c06run_fast_lio\u8bbe\u7f6e\u4e3afalse\uff0c\u8868\u793a\u4e0d\u542f\u52a8\u6fc0\u5149\u96f7\u8fbe\u9a71\u52a8\uff0c\u6fc0\u5149\u96f7\u8fbe\u662f\u901a\u8fc7\u65cb\u8f6c\u626b\u63cf\u83b7\u53d6\u70b9\u4e91\u6570\u636e\u8fdb\u800c\u8fdb\u884c\u5b9a\u4f4d\uff0c\u800cgazebo\u4f1a\u81ea\u52a8\u6a21\u62df\u51fa\u70b9\u4e91\u6570\u636e\u4f20\u8f93\u7ed9\u4eff\u771f\u65e0\u4eba\u673a\uff0c\u56e0\u6b64\u4e0d\u9700\u8981\u542f\u52a8fast_lio\uff1b \u5c06run_driver\u8bbe\u7f6e\u4e3afalse\u8868\u793a\u4e0d\u542f\u52a8\u6444\u50cf\u5934\u9a71\u52a8\uff0c\u56e0\u4e3a\u5728gazebo\u4e2d\u4e0d\u5b58\u5728\u5b9e\u9645\u6444\u50cf\u5934\uff0cgazebo\u4f1a\u76f4\u63a5\u5c06\u753b\u9762\u4f20\u8f93\u7ed9\/camera\/image_raw\u8bdd\u9898\uff0c\u6a21\u62df\u6444\u50cf\u5934\u62cd\u6444\u753b\u9762\u8fd9\u4e00\u8fc7\u7a0b\u3002<\/p>\n<\/blockquote>\n\n\n\n<p>\u6b64\u65f6\u6253\u5f00 Gazebo \uff0c\u7b49\u5f85\u753b\u9762\u4e2d\u65e0\u4eba\u673a\u8d77\u98de\u5373\u8868\u793a\u542f\u52a8\u6210\u529f\uff0c\u6b64\u65f6\u8fd8\u53ef\u518d\u5f00\u542f\u4e00\u4e2a\u7ec8\u7aef\u8fd0\u884c rqt \u67e5\u770b\u6444\u50cf\u5934\u62cd\u6444\u5185\u5bb9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1736322557596.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p><strong>\u66ff\u6362\u573a\u666f\u56fe\u7247\uff1a<\/strong> 1\uff09\u70b9\u51fbubuntu\u684c\u9762\u5de6\u4e0a\u89d2\u6587\u4ef6\u5939\u56fe\u6807\uff0c\u5728 catkin_ws \u5de5\u4f5c\u7a7a\u95f4\u4e2d\u627e\u5230 src\/tutorials\/tutorial_gazebo\/models \u8def\u5f84\u4e0b\uff0cA_aqr \u4ee3\u8868\u4eff\u771f\u5730\u56fe\u4e2d\u7684\u4e8c\u7ef4\u7801\uff0cA_obj0-A_obj4 \u8868\u793a\u4eff\u771f\u5730\u56fe\u4e2d\u7684 cifar100 \u56fe\u50cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1736322958395.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>2\uff09\u82e5\u60f3\u8981\u66ff\u6362\u5730\u56fe\u4e2d\u7684\u4e8c\u7ef4\u7801\uff0c\u5219\u8fdb\u5165 A_aqr\/materials\/textures \u8def\u5f84\u4e0b\uff0c\u53ef\u4ee5\u770b\u5230\u8be5\u8def\u5f84\u4e0b\u5b58\u653e\u4e86\u4e8c\u7ef4\u7801\u56fe\u50cf\uff0c\u5c06\u65b0\u7684\u4e8c\u7ef4\u7801\u56fe\u50cf\u653e\u5230\u8be5\u8def\u5f84\u4e0b\u5e76\u5220\u9664\u539f\u6709\u56fe\u50cf\u5373\u5b8c\u6210\u4e8c\u7ef4\u7801\u7684\u66ff\u6362\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u6ce8\uff1a\u66ff\u6362\u65f6\u56fe\u50cf\u6587\u4ef6\u540d\u79f0\u9700\u4fdd\u6301\u4e0d\u53d8\u3002<\/p>\n<\/blockquote>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1736323042312.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>3\uff09\u540c\u7406\uff0c\u82e5\u60f3\u8981\u66ff\u6362\u5730\u56fe\u4e2d\u7684 cifar100 \u56fe\u50cf\uff0c\u5219\u8fdb\u5165 A_obj0(0-4)\/materials\/textures \u8def\u5f84\u4e0b\uff0c\u5c06\u65b0\u56fe\u50cf\u66ff\u6362\u539f\u56fe\u50cf\u5373\u53ef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/static.simuro.liuyaorobot.com\/archive\/tutorial2025\/img\/1736323160888.jpg\" alt=\"\"\/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u542f\u52a8Gazebo\uff1a Gazebo \u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u4eff\u771f\u5e73\u53f0\uff0c\u5e7f\u6cdb\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u3001\u6d4b\u8bd5\u548c\u7814\u7a76\u3002\u8fdb\u5165 Ubunt [&hellip;]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":470,"menu_order":4,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-480","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/480","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs"}],"about":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/types\/docs"}],"author":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=480"}],"version-history":[{"count":1,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/480\/revisions"}],"predecessor-version":[{"id":481,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/480\/revisions\/481"}],"up":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/470"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=480"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=480"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=480"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=480"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}