2022年gazebo機器人仿真學習探索筆記六工具和實用程序

1、Gazebo橫器人仿真擘咎摸索笨言己 橫器人仿真擘咎摸索笨言己（六）工具和實用程序 （六）工具和實用程序Gazebo附帶了許多工具和實用程序。這些教程闡明了這些可用日勺工具，以及如何使用它 們。重要有：1記錄和播放2日記過濾3應(yīng)用力/扭矩4 HDF5數(shù)據(jù)集官網(wǎng)簡介通俗具體，非常容易，請參照附件。附件--官方教程Logging and playbackOverviewThis tutorial explains how to use th

2、e Gazebo logging capabilities to record your simulation and then reproduce it afterwards, using either the GUI or the command line.Gazebo log filesGazebo log files are compressed .log files which contain an initial full

3、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 s

4、omething 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

5、the number of physics iterations.the number of bytes in your log file will not increase. This also means that the number of samples in your log file may be different from the number of iterations in simulation.Click on t

6、he red button again to stop logging.Expand Recordings to see the path to the state.log file which was generated. It will be inside atime-stamped directory.Logging from the command lineFrom the command line, it is possibl

7、e to log the whole simulation from the moment Gazebo starts running until it stops, or to trigger logging from an arbitary time.Logging the whole simulationAs an example, you can record the random_velocity.world as follo

8、ws:gazebo -r --record_path ~/logs/random_velocity worlds/random_velocity.worldYou can see a list of all of the available logging options by running gazebo --help.-p [--play] arg: Play a log file.-r [ --record ]: Record a

9、 log from the moment Gazebo is opened until it is closed.--record_encoding arg: Compression encoding format for log data. The options are zlib (default),bz2 and txt.The log file will only be terminated when Gazebo is clo