Gazebo和ROS通訊實現發球

ros版本： ros kinetic

作業系統：ubuntu16.04 lts

1.ros的安裝和通訊機制，主要是話題和服務通訊。

這裡只需要根據根據ros wiki上的教程實現前20講，就可以實現安裝（包括gazebo_ros包）和簡單入門。

2.gazebo的一些基礎知識（非必須），這裡可以看一下gazebo的入門教程

#!/usr/bin/env python

import time
import rospy
from gazebo_msgs.srv import spawnmodel
from gazebo_msgs.srv import deletemodel
from gazebo_msgs.srv import getmodelstate
from geometry_msgs.msg import pose
from geometry_msgs.msg import wrench
#初始位置
initial_pose = pose(
)initial_pose.position.x =-4
initial_pose.position.y =-1
initial_pose.position.z =
1#所用力的大小
initial_wrench = wrench(
)initial_wrench.force.x =
0.16
initial_wrench.force.y =
0.0initial_wrench.force.z =
0.25
#ctrl+h顯示隱藏文件，將***替換為自己的目錄，從自己的目錄中找的這個檔案
f =open
('/home/***xx/.gazebo/models/robocup_spl_ball/model.sdf'
,'r'
)sdff = f.read(
)#產生小球的服務
rospy.wait_for_service(
'gazebo/spawn_sdf_model'
)spawn_model_prox = rospy.serviceproxy(
'gazebo/spawn_sdf_model'
, spawnmodel)
#施加乙個作用力
rospy.wait_for_service(
)#刪除小球
rospy.wait_for_service(
'gazebo/delete_model'
)deletesrv = rospy.serviceproxy(
'gazebo/delete_model'
, deletemodel)
#得到小球位置
rospy.wait_for_service(
'gazebo/get_model_state'
)get_m_state = rospy.serviceproxy(
'gazebo/get_model_state'
, getmodelstate)
while(1
):spawn_model_prox(
"my_ball"
, sdff,
"robotos_name_space"
, initial_pose,
"world"
)	time.sleep(1)
"my_ball::ball"
,"world"
,none
, initial_wrench, rospy.time.from_sec(0)
, rospy.duration.from_sec(
0.2)
)	s = get_m_state(
"my_ball"
,"world"
)while(1
):if(s.pose.position.x <6)
:			s = get_m_state(
"my_ball"
,"world"
)print
(s.pose.position.x)
else
:			rospy.wait_for_service(
'gazebo/delete_model'
)			deletesrv = rospy.serviceproxy(
'gazebo/delete_model'
, deletemodel)
ass = deletesrv(
"my_ball"
)print
(ass)
break

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