Gazebo仿真要点

1. world环境搭建

• 模型可以随便放，但是如果要加载PX4仿真，在world中一定要加下面的物理模型，不然飞机加载不进去

  <physics name='default_physics' default='0' type='ode'>
        <gravity>0 0 -9.8066</gravity>
        <ode>
          <solver>
            <type>quick</type>
            <iters>10</iters>
            <sor>1.3</sor>
            <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
          </solver>
          <constraints>
            <cfm>0</cfm>
            <erp>0.2</erp>
            <contact_max_correcting_vel>100</contact_max_correcting_vel>
            <contact_surface_layer>0.001</contact_surface_layer>
          </constraints>
        </ode>
        <max_step_size>0.004</max_step_size>
        <real_time_factor>1</real_time_factor>
        <real_time_update_rate>250</real_time_update_rate>
        <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
      </physics>
  

• 一个完整的world例子如下所示：

  <?xml version="1.0" ?>
  <sdf version="1.6">
    <world name="default">
      <scene>
        <grid>false</grid>
        <origin_visual>false</origin_visual>
        <ambient>0.592 0.624 0.635 1</ambient>
        <sky>
          <clouds>
            <speed>12</speed>
          </clouds>
        </sky>
        <background>0.35 0.35 0.35 1.0</background>
      </scene>
  
      <physics name='default_physics' default='0' type='ode'>
        <gravity>0 0 -9.8066</gravity>
        <ode>
          <solver>
            <type>quick</type>
            <iters