ROS2的jazzy版本的机器人3D仿真软件gazebo的安装和使用

一、安装 Gazebo

1. 安装 Gazebo Harmonic 和 ROS 2 接口

bash 复制代码

# 更新软件源
sudo apt update

# 安装 Gazebo Harmonic 和 ROS 2 集成包（推荐）
sudo apt install ros-jazzy-ros-gz

# 或分开安装
sudo apt install gz-harmonic          # Gazebo 本体
sudo apt install ros-jazzy-ros-gz-sim  # ROS 2 接口

2. 安装常用插件和工具

bash 复制代码

# 机器人控制插件
sudo apt install ros-jazzy-gz-ros2-control

# 传感器插件
sudo apt install ros-jazzy-ros-gz-sim-demos

# 桥接工具（ROS 2 与 Gazebo 通信）
sudo apt install ros-jazzy-ros-gz-bridge

二、启动 Gazebo

基本启动方式

bash 复制代码

# 方法1：通过 ROS 2 启动（推荐）
ros2 launch ros_gz_sim gz_sim.launch.py

# 方法2：直接启动 Gazebo
gz sim

# 方法3：启动并加载特定世界
gz sim /usr/share/gz/gz-sim8/worlds/shapes.sdf

常用启动参数

bash 复制代码

# 启动空世界
ros2 launch ros_gz_sim gz_sim.launch.py

# 启动示例世界
ros2 launch ros_gz_sim gz_sim.launch.py world:=shapes.sdf

# 启动时暂停（方便添加模型）
ros2 launch ros_gz_sim gz_sim.launch.py pause:=true

# 指定自定义世界文件
ros2 launch ros_gz_sim gz_sim.launch.py world:=/path/to/your/world.sdf

三、加载机器人模型

1. 使用 launch 文件加载 URDF/SDF

创建 spawn_robot.launch.py：

python 复制代码

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
import os

def generate_launch_description():
    # 启动 Gazebo
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([
            PathJoinSubstitution([
                FindPackageShare('ros_gz_sim'),
                'launch',
                'gz_sim.launch.py'
            ])
        ]),
        launch_arguments={'world': 'empty.sdf'}.items()
    )

    # 发布机器人状态
    robot_state_publisher = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        output='screen',
        parameters=[{'robot_description': open('/path/to/robot.urdf', 'r').read()}]
    )

    # 在 Gazebo 中生成机器人
    spawn_entity = Node(
        package='ros_gz_sim',
        executable='create',
        arguments=[
            '-name', 'my_robot',
            '-topic', 'robot_description',
            '-x', '0.0',
            '-y', '0.0',
            '-z', '0.5'
        ],
        output='screen'
    )

    return LaunchDescription([
        gazebo,
        robot_state_publisher,
        spawn_entity,
    ])

2. 命令行生成模型

bash 复制代码

# 生成 URDF 模型
ros2 run ros_gz_sim create -file /path/to/robot.urdf -name my_robot -x 0 -y 0 -z 1

# 生成 SDF 模型
ros2 run ros_gz_sim create -file /path/to/robot.sdf -name my_robot

四、ROS 2 与 Gazebo 通信（桥接）

1. 使用 ros_gz_bridge

命令行方式：

bash 复制代码

# 桥接特定话题
ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock

# 桥接多个话题
ros2 run ros_gz_bridge parameter_bridge \
  /cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist \
  /odom@nav_msgs/msg/Odometry[gz.msgs.Odometry \
  /scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan

Launch 文件方式：

python 复制代码

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    bridge = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=[
            '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
            '/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist',
            '/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry',
            '/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan',
            '/camera/image@sensor_msgs/msg/Image[gz.msgs.Image',
            '/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo',
        ],
        output='screen'
    )
    return LaunchDescription([bridge])

2. 话题映射规则

ROS 2 话题	Gazebo 话题	方向	说明
`/cmd_vel`	`/model/robot/cmd_vel`	ROS→Gz	速度指令
`/odom`	`/model/robot/odometry`	Gz→ROS	里程计
`/scan`	`/model/robot/scan`	Gz→ROS	激光雷达
`/imu`	`/model/robot/imu`	Gz→ROS	IMU 数据
`/camera/image`	`/model/robot/camera/image`	Gz→ROS	相机图像

五、完整示例：差速小车仿真

目录结构

复制代码

my_robot_sim/
├── launch/
│   └── robot_sim.launch.py
├── urdf/
│   └── robot.urdf
├── world/
│   └── my_world.sdf
└── config/
    └── bridge.yaml

Launch 文件（完整版）

python 复制代码

import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
    pkg_share = get_package_share_directory('my_robot_sim')
    
    # 参数
    world_file = LaunchConfiguration('world', default='empty.sdf')
    
    # 启动 Gazebo
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([
            PathJoinSubstitution([
                FindPackageShare('ros_gz_sim'),
                'launch',
                'gz_sim.launch.py'
            ])
        ]),
        launch_arguments={'world': world_file}.items()
    )
    
    # 加载 URDF
    urdf_file = os.path.join(pkg_share, 'urdf', 'robot.urdf')
    with open(urdf_file, 'r') as f:
        robot_description = f.read()
    
    robot_state_publisher = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description': robot_description}],
        output='screen'
    )
    
    # 生成机器人
    spawn_robot = Node(
        package='ros_gz_sim',
        executable='create',
        arguments=[
            '-name', 'diff_drive_robot',
            '-topic', 'robot_description',
            '-x', '0.0',
            '-y', '0.0',
            '-z', '0.1'
        ],
        output='screen'
    )
    
    # 桥接
    bridge = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=[
            # 时钟
            '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
            # 速度控制
            '/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist',
            # 里程计
            '/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry',
            # 激光雷达
            '/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan',
            # 相机
            '/camera/image@sensor_msgs/msg/Image[gz.msgs.Image',
            '/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo',
            # 深度相机（如有）
            '/camera/depth@sensor_msgs/msg/Image[gz.msgs.Image',
            '/camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked',
        ],
        output='screen'
    )
    
    # RViz2
    rviz = Node(
        package='rviz2',
        executable='rviz2',
        arguments=['-d', os.path.join(pkg_share, 'config', 'robot.rviz')],
        output='screen'
    )
    
    return LaunchDescription([
        DeclareLaunchArgument(
            'world',
            default_value='empty.sdf',
            description='World file to load'
        ),
        gazebo,
        robot_state_publisher,
        spawn_robot,
        bridge,
        rviz,
    ])

六、常用命令速查

bash 复制代码

# 查看 Gazebo 版本
gz sim --version

# 查看可用世界文件
ls /usr/share/gz/gz-sim8/worlds/

# 查看话题列表（Gazebo 侧）
gz topic -l

# 查看话题信息
gz topic -i /topic/name

# 查看 ROS 2 侧话题
ros2 topic list

# 键盘控制测试
ros2 run teleop_twist_keyboard teleop_twist_keyboard

七、与 Humble 的主要区别

功能	Humble	Jazzy
Gazebo 版本	Gazebo 11 (Ignition Fortress)	Gazebo Harmonic
包名	`gazebo_ros`	`ros_gz_sim`
Launch 文件	`gazebo.launch.py`	`gz_sim.launch.py`
生成模型	`spawn_entity.py`	`create`
世界格式	`.world`	`.sdf`
命令行工具	`ign`	`gz`

八、常见问题

1. 黑屏或渲染问题

bash 复制代码

# 尝试软件渲染
export LIBGL_ALWAYS_SOFTWARE=1
ros2 launch ros_gz_sim gz_sim.launch.py

2. 模型无法加载

检查 GAZEBO_MODEL_PATH 或 GZ_SIM_RESOURCE_PATH

bash 复制代码

export GZ_SIM_RESOURCE_PATH=$HOME/.gz/models:$GZ_SIM_RESOURCE_PATH

3. 找不到包

bash 复制代码

# 确保 source 了 setup.bash
source /opt/ros/jazzy/setup.bash
source ~/ros2_ws/install/setup.bash