Gazebo机器人仿真学习探索笔记(六)工具和实用程序讲义.docVIP

Gazebo機器人仿真學習探索筆記（六）工具和实用程序 Gazebo附带了许多工具和实用程序。 这些教程说明了这些可用的工具，以及如何使用它们。 主要有： 1 记录和播放 2 日志过滤 3 应用力/扭矩 4 HDF5数据集 官网介绍通俗具体，非常容易，请参考附件。 附件--官方教程 Logging and playback Overview This tutorial explains how to use the Gazebo logging capabilities to record your simulation and then reproduce it afterwards, using either the GUI or the command line. Gazebo log files Gazebo log files are compressed .log files which contain an initial full description of the whole world, followed by a series of world states. The initial description contains complete information about everything in the world, from the scene to the entities present. After that, every time something changes in simulation, a new world state is recorded. World states are much simpler, as they only contain information about what changed, such as: Simulation statistics such as the current simulation time and the number of physics iterations. Current state of each model in the scene, as well as the state of each link and joint in the model. This includes information such as instantaneous pose, velocity, acceleration and forces. Current pose of each light in the world. Tip: You can find the whole spec for the world state here. In this tutorial we will record a few log files and then take a peek inside them at the end. Record a log Logging from the GUI Start your simulation. Here, as an example, we have a simple world with a double pendulum. Click on the logging icon on the top right, or hit Ctrl+D to bring up the Data Logger. You can choose the directory where your log file will be saved by clicking the Browse button. By default, log files Go to the ~/.gazebo/log directory. In this example, we will save it in the ~/logs/double_pendulum/ directory. Click on the red button to start recording. You should see the number of bytes in your log file increasing on the right. Note: For efficiency, only models and lights which move over time are logged. If your scene is static, the number of bytes in your