franka_gazebo的启动文件包含大量参数,您可以使用这些参数自定义行为 的模拟。例如,要在一个模拟中生成两只熊猫,您可以使用以下方法:
<?xml version="1.0"?> <launch> <include file="$(find gazebo_ros)/launch/empty_world.launch" > <!-- Start paused, simulation will be started, when Pandas were loaded --> <arg name="paused" value="true"/> <arg name="use_sim_time" value="true"/> </include> <group ns="panda_1"> <include file="$(find franka_gazebo)/launch/panda.launch"> <arg name="arm_id" value="panda_1" /> <arg name="y" value="-0.5" /> <arg name="controller" value="cartesian_impedance_example_controller" /> <arg name="rviz" value="false" /> <arg name="gazebo" value="false" /> <arg name="paused" value="true" /> </include> </group> <group ns="panda_2"> <include file="$(find franka_gazebo)/launch/panda.launch"> <arg name="arm_id" value="panda_2" /> <arg name="y" value="0.5" /> <arg name="controller" value="force_example_controller" /> <arg name="rviz" value="false" /> <arg name="gazebo" value="false" /> <arg name="paused" value="false" /> </include> </group> </launch>
若要查看支持哪些参数,请使用:
roslaunch franka_gazebo panda.launch --ros-args
标签:franka,Robot,Franka,Customization,Ros,gazebo From: https://www.cnblogs.com/ai-ldj/p/18306280