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🏗️ Gazebo Fortress

Objetivo do Módulo

Dominar o Gazebo: criar mundos, simular física e integrar com ROS2.

📦 Instalação​

Ubuntu 22.04 + ROS2 Humble​

# Gazebo já vem com ROS2 Desktop
sudo apt install ros-humble-desktop-full

# Pacotes extras
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-gazebo-plugins

# Verificar instalação
gazebo --version
# Gazebo multi-robot simulator, version 11.10.2

🌍 Criar Seu Primeiro Mundo​

Mundo Básico (XML SDF)​

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="humanoid_lab">
    <!-- Sol -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- Chão -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- Caixa para manipular -->
    <model name="box1">
      <pose>2 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box><size>0.5 0.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box><size>0.5 0.5 0.5</size></box>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>

Salvar: ~/gazebo_ws/worlds/lab.world

Lançar:

gazebo ~/gazebo_ws/worlds/lab.world

🤖 Importar Modelo de Humanoide​

Opção 1: Modelos Prontos​

# Baixar Unitree H1 (exemplo)
cd ~/.gazebo/models
git clone https://github.com/unitreerobotics/unitree_ros.git

# Incluir no mundo
<include>
  <uri>model://unitree_h1</uri>
  <pose>0 0 1 0 0 0</pose>
</include>

Opção 2: Converter URDF → SDF​

# Se você tem URDF do robô
gz sdf -p robot.urdf > robot.sdf

⚙️ Física e Plugins​

Configurar Motor​

<plugin name="joint_controller" filename="libgazebo_ros_joint_state_publisher.so">
  <ros>
    <namespace>/robot</namespace>
    <remapping>joint_states:=joint_states</remapping>
  </ros>
  <update_rate>100</update_rate>
  <joint_name>left_knee</joint_name>
</plugin>

Controlar via ROS2​

import rclpy
from sensor_msgs.msg import JointState

node = rclpy.create_node('joint_commander')
pub = node.create_publisher(JointState, '/robot/joint_commands', 10)

msg = JointState()
msg.name = ['left_knee']
msg.position = [1.57]  # 90 graus

pub.publish(msg)

📹 Câmera Simulada​

<sensor name="camera" type="camera">
  <camera>
    <horizontal_fov>1.57</horizontal_fov>
    <image>
      <width>1280</width>
      <height>720</height>
    </image>
  </camera>
  <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
    <ros>
      <namespace>/robot</namespace>
      <remapping>image_raw:=camera/image_raw</remapping>
    </ros>
  </plugin>
</sensor>

Ver imagem:

ros2 run rqt_image_view rqt_image_view /robot/camera/image_raw

🎮 Teleoperação​

# Terminal 1: Lançar Gazebo com robô
gazebo my_world.world

# Terminal 2: Teleop
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot/cmd_vel

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