Environment: ubuntu 16.04 ros-kinectic gazebo 7.16
<1>
Gazebo supports the following plug-in types, and all plug-in types can be linked to ros, but 只能they are referenced through urdf files:
ModelPlugins, Provide the right Physical :: Model APIaccess
SensorPlugins, provide the right sensor: Sensor APIaccess
VisualPlugins, provide the right render :: Visual APIaccess
Regarding the use of plug-ins:
(1) urdf is to directly insert code into the file to call the plug-in;
`http://gazebosim.org/tutorials?tut=ros_gzplugins#Pluginsavailableingazebo_plugin`s
The tutorial introduces a lot of plug-in code insertion paradigms. If you don’t understand, you can just find the copy and enter it. Next time, I will share a case of my own study, learn technology and live, and you have to worry about it to be fun.
(2) Sdf is to write the plug-in package through C++, and then it can be used by inserting call statements in the sdf file.
http://gazebosim.org/tutorials/?tut=plugins_hello_world
Next time, I will also share a personal study case written by the gazebo plug-in. To learn technology, you have to toss more to make it fun.
<2>
The official description of the joints in the urdf file: http://wiki.ros.org/urdf/XML/joint#Elements
(1) The types are:
a. revoluteRotation type, along and having a vertical axis defined by the hinge
B. continuouscontinuously rotated about the shaft, there is no upper limit
C. prismaticprismatic joints slide along the shaft, having upper and lower limits
D. fixedfixed, need to define what restrictions
E. floatingjoint having six Degree of freedom movement
F. planarJoints move in the plane of the vertical axis
20191115
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Good memory is not as good as bad
writing'–20200723