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浅谈机器人控制与仿真设计----RDS和ROS_rds机器人调度系统

作者：我家小花儿 | 2024-06-28 04:02:34

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rds机器人调度系统

机器人控制、仿真或实验，主要由三个部分组成，机器人、环境和算法。

当然各部分又包含很多子部分和功能，这里主要以仿真为主，为了使得仿真结果能够直接应用到实际机器人上，这里分别以RDS和ROS对比介绍。http://download.csdn.net/detail/zhangrelay/9629847

1 机器人

机器人的控制算法主要基于运动学或动力学设计，使机器人在环境中以期望速度或轨迹运动，当然要避障，这与环境相关，放在第二部分。机器人装备传感器感知环境，由算法做出决策，发送到运动执行机构，在加入学习能力之后，可以依据环境做出有利于自身的动态调整，以便于更好的适应环境和完成任务。

RDS：


    

以P3DX为例：


配置代码如下：

  1. <?xml version="1.0"?>
  2. <Manifest xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html">
  3.   <CreateServiceList>
  4.     <ServiceRecordType>
  5.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</Contract>
  6.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  7.         <Partner>
  8.           <Contract>http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</Contract>
  9.           <Service>P3DX.xml</Service>
  10.           <PartnerList />
  11.           <Name>StateService</Name>
  12.         </Partner>
  13.       </PartnerList>
  14.     </ServiceRecordType>
  15.     <ServiceRecordType>
  16.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</Contract>
  17.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  18.         <Partner>
  19.           <Service>http://localhost/P3DXMotorBase</Service>
  20.           <PartnerList />
  21.           <Name xmlns:q1="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q1:Entity</Name>
  22.         </Partner>
  23.       </PartnerList>
  24.     </ServiceRecordType>
  25.     <ServiceRecordType>
  26.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.html</Contract>
  27.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  28.         <Partner>
  29.           <Service>http://localhost/P3DXLaserRangeFinder</Service>
  30.           <PartnerList />
  31.           <Name xmlns:q2="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q2:Entity</Name>
  32.         </Partner>
  33.       </PartnerList>
  34.     </ServiceRecordType>
  35.     <ServiceRecordType>
  36.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.html</Contract>
  37.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  38.         <Partner>
  39.           <Service>http://localhost/P3DXBumpers</Service>
  40.           <PartnerList />
  41.           <Name xmlns:q3="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q3:Entity</Name>
  42.         </Partner>
  43.       </PartnerList>
  44.     </ServiceRecordType>
  45.     <ServiceRecordType>
  46.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/2006/09/simulatedwebcam.html</Contract>
  47.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  48.         <Partner>
  49.           <Service>http://localhost/robocam</Service>
  50.           <PartnerList />
  51.           <Name xmlns:q4="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q4:Entity</Name>
  52.         </Partner>
  53.       </PartnerList>
  54.     </ServiceRecordType>
  55.     <ServiceRecordType>
  56.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2011/01/simulateddepthcam.html</Contract>
  57.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  58.         <Partner>
  59.           <Service>http://localhost/KinectCamera</Service>
  60.           <PartnerList />
  61.           <Name xmlns:q5="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q5:Entity</Name>
  62.         </Partner>
  63.       </PartnerList>
  64.     </ServiceRecordType>
  65.     <ServiceRecordType>
  66.       <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/2011/01/simulatedwebcamsensor.html</Contract>
  67.       <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
  68.         <Partner>
  69.           <Service>http://localhost/SimulatedWebcam</Service>
  70.           <PartnerList />
  71.           <Name xmlns:q6="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q6:Entity</Name>
  72.         </Partner>
  73.       </PartnerList>
  74.     </ServiceRecordType>
  75.   </CreateServiceList>
  76. </Manifest>
分别配置了差动底盘、激光传感器、碰撞传感器和深度视觉摄像头等。
完整版本配置如下： 

  1.     <Pioneer3DX xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  2.       <sim:State>
  3.         <sim:Name>P3DXMotorBase</sim:Name>
  4.         <sim:Assets>
  5.           <sim:Mesh>Pioneer3dx.bos</sim:Mesh>
  6.           <sim:Effect>default</sim:Effect>
  7.         </sim:Assets>
  8.         <sim:Pose>
  9.           <physm:Position>
  10.             <physm:X>2</physm:X>
  11.             <physm:Y>0.077099</physm:Y>
  12.             <physm:Z>2</physm:Z>
  13.           </physm:Position>
  14.           <physm:Orientation>
  15.             <physm:X>0</physm:X>
  16.             <physm:Y>2.0103019E-07</physm:Y>
  17.             <physm:Z>-7.260728E-10</physm:Z>
  18.             <physm:W>1</physm:W>
  19.           </physm:Orientation>
  20.         </sim:Pose>
  21.         <sim:Velocity>
  22.           <physm:X>-3.3154862E-07</physm:X>
  23.           <physm:Y>1.32271339E-07</physm:Y>
  24.           <physm:Z>-3.06670131E-07</physm:Z>
  25.         </sim:Velocity>
  26.         <sim:AngularVelocity>
  27.           <physm:X>-4.037088E-06</physm:X>
  28.           <physm:Y>-5.273405E-06</physm:Y>
  29.           <physm:Z>9.124161E-06</physm:Z>
  30.         </sim:AngularVelocity>
  31.         <sim:MassDensity>
  32.           <phys:Mass>11</phys:Mass>
  33.           <phys:InertiaTensor>
  34.             <physm:X>0</physm:X>
  35.             <physm:Y>0</physm:Y>
  36.             <physm:Z>0</physm:Z>
  37.           </phys:InertiaTensor>
  38.           <phys:CenterOfMass>
  39.             <physm:Position>
  40.               <physm:X>0</physm:X>
  41.               <physm:Y>0</physm:Y>
  42.               <physm:Z>0</physm:Z>
  43.             </physm:Position>
  44.             <physm:Orientation>
  45.               <physm:X>0</physm:X>
  46.               <physm:Y>0</physm:Y>
  47.               <physm:Z>0</physm:Z>
  48.               <physm:W>0</physm:W>
  49.             </physm:Orientation>
  50.           </phys:CenterOfMass>
  51.           <phys:Density>0</phys:Density>
  52.           <phys:LinearDamping>0</phys:LinearDamping>
  53.           <phys:AngularDamping>0</phys:AngularDamping>
  54.           <phys:MassLocalPose>
  55.             <physm:Position>
  56.               <physm:X>0</physm:X>
  57.               <physm:Y>0</physm:Y>
  58.               <physm:Z>0</physm:Z>
  59.             </physm:Position>
  60.             <physm:Orientation>
  61.               <physm:X>0</physm:X>
  62.               <physm:Y>0</physm:Y>
  63.               <physm:Z>0</physm:Z>
  64.               <physm:W>1</physm:W>
  65.             </physm:Orientation>
  66.           </phys:MassLocalPose>
  67.         </sim:MassDensity>
  68.         <sim:Flags>Dynamic</sim:Flags>
  69.       </sim:State>
  70.       <Flags>None</Flags>
  71.       <ChildCount>4</ChildCount>
  72.       <ReferenceFrame>Global</ReferenceFrame>
  73.       <ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</ServiceContract>
  74.       <EmbeddedResourceAssemblies />
  75.       <MeshScale>
  76.         <physm:X>1</physm:X>
  77.         <physm:Y>1</physm:Y>
  78.         <physm:Z>1</physm:Z>
  79.       </MeshScale>
  80.       <MeshRotation>
  81.         <physm:X>0</physm:X>
  82.         <physm:Y>0</physm:Y>
  83.         <physm:Z>0</physm:Z>
  84.       </MeshRotation>
  85.       <MeshTranslation>
  86.         <physm:X>0</physm:X>
  87.         <physm:Y>0</physm:Y>
  88.         <physm:Z>0</physm:Z>
  89.       </MeshTranslation>
  90.       <IsEnabled>true</IsEnabled>
  91.       <MotorTorqueScaling>20</MotorTorqueScaling>
  92.       <RightWheel>
  93.         <sim:State>
  94.           <sim:Name>P3DXMotorBase:Right wheel</sim:Name>
  95.           <sim:Assets>
  96.             <sim:Mesh>PioneerWheel.bos</sim:Mesh>
  97.           </sim:Assets>
  98.           <sim:Pose>
  99.             <physm:Position>
  100.               <physm:X>2</physm:X>
  101.               <physm:Y>0.077099</physm:Y>
  102.               <physm:Z>2</physm:Z>
  103.             </physm:Position>
  104.             <physm:Orientation>
  105.               <physm:X>0</physm:X>
  106.               <physm:Y>2.0103019E-07</physm:Y>
  107.               <physm:Z>-7.260728E-10</physm:Z>
  108.               <physm:W>1</physm:W>
  109.             </physm:Orientation>
  110.           </sim:Pose>
  111.           <sim:Velocity>
  112.             <physm:X>0</physm:X>
  113.             <physm:Y>0</physm:Y>
  114.             <physm:Z>0</physm:Z>
  115.           </sim:Velocity>
  116.           <sim:AngularVelocity>
  117.             <physm:X>0</physm:X>
  118.             <physm:Y>0</physm:Y>
  119.             <physm:Z>0</physm:Z>
  120.           </sim:AngularVelocity>
  121.           <sim:MassDensity>
  122.             <phys:Mass>0</phys:Mass>
  123.             <phys:InertiaTensor>
  124.               <physm:X>0</physm:X>
  125.               <physm:Y>0</physm:Y>
  126.               <physm:Z>0</physm:Z>
  127.             </phys:InertiaTensor>
  128.             <phys:CenterOfMass>
  129.               <physm:Position>
  130.                 <physm:X>0</physm:X>
  131.                 <physm:Y>0</physm:Y>
  132.                 <physm:Z>0</physm:Z>
  133.               </physm:Position>
  134.               <physm:Orientation>
  135.                 <physm:X>0</physm:X>
  136.                 <physm:Y>0</physm:Y>
  137.                 <physm:Z>0</physm:Z>
  138.                 <physm:W>0</physm:W>
  139.               </physm:Orientation>
  140.             </phys:CenterOfMass>
  141.             <phys:Density>0</phys:Density>
  142.             <phys:LinearDamping>0</phys:LinearDamping>
  143.             <phys:AngularDamping>0</phys:AngularDamping>
  144.             <phys:MassLocalPose>
  145.               <physm:Position>
  146.                 <physm:X>0</physm:X>
  147.                 <physm:Y>0</physm:Y>
  148.                 <physm:Z>0</physm:Z>
  149.               </physm:Position>
  150.               <physm:Orientation>
  151.                 <physm:X>0</physm:X>
  152.                 <physm:Y>0</physm:Y>
  153.                 <physm:Z>0</physm:Z>
  154.                 <physm:W>0</physm:W>
  155.               </physm:Orientation>
  156.             </phys:MassLocalPose>
  157.           </sim:MassDensity>
  158.           <sim:Flags>Dynamic</sim:Flags>
  159.         </sim:State>
  160.         <Flags>None</Flags>
  161.         <ChildCount>0</ChildCount>
  162.         <ReferenceFrame>Global</ReferenceFrame>
  163.         <EmbeddedResourceAssemblies />
  164.         <MeshScale>
  165.           <physm:X>1</physm:X>
  166.           <physm:Y>1</physm:Y>
  167.           <physm:Z>1</physm:Z>
  168.         </MeshScale>
  169.         <MeshRotation>
  170.           <physm:X>0</physm:X>
  171.           <physm:Y>180</physm:Y>
  172.           <physm:Z>0</physm:Z>
  173.         </MeshRotation>
  174.         <MeshTranslation>
  175.           <physm:X>0</physm:X>
  176.           <physm:Y>0</physm:Y>
  177.           <physm:Z>0</physm:Z>
  178.         </MeshTranslation>
  179.         <WheelShape>
  180.           <phys:WheelState>
  181.             <phys:Name>P3DXMotorBase/front right wheel</phys:Name>
  182.             <phys:ShapeId>Wheel</phys:ShapeId>
  183.             <phys:Dimensions>
  184.               <physm:X>0</physm:X>
  185.               <physm:Y>0</physm:Y>
  186.               <physm:Z>0</physm:Z>
  187.             </phys:Dimensions>
  188.             <phys:Radius>0.08</phys:Radius>
  189.             <phys:Material>
  190.               <phys:Name>default wheel material</phys:Name>
  191.               <phys:Restitution>0</phys:Restitution>
  192.               <phys:DynamicFriction>0</phys:DynamicFriction>
  193.               <phys:StaticFriction>0</phys:StaticFriction>
  194.               <phys:MaterialIndex>497</phys:MaterialIndex>
  195.             </phys:Material>
  196.             <phys:MassDensity>
  197.               <phys:Mass>0.1</phys:Mass>
  198.               <phys:InertiaTensor>
  199.                 <physm:X>0</physm:X>
  200.                 <physm:Y>0</physm:Y>
  201.                 <physm:Z>0</physm:Z>
  202.               </phys:InertiaTensor>
  203.               <phys:CenterOfMass>
  204.                 <physm:Position>
  205.                   <physm:X>0</physm:X>
  206.                   <physm:Y>0</physm:Y>
  207.                   <physm:Z>0</physm:Z>
  208.                 </physm:Position>
  209.                 <physm:Orientation>
  210.                   <physm:X>0</physm:X>
  211.                   <physm:Y>0</physm:Y>
  212.                   <physm:Z>0</physm:Z>
  213.                   <physm:W>0</physm:W>
  214.                 </physm:Orientation>
  215.               </phys:CenterOfMass>
  216.               <phys:Density>0</phys:Density>
  217.               <phys:LinearDamping>0</phys:LinearDamping>
  218.               <phys:AngularDamping>0</phys:AngularDamping>
  219.               <phys:MassLocalPose>
  220.                 <physm:Position>
  221.                   <physm:X>0</physm:X>
  222.                   <physm:Y>0</physm:Y>
  223.                   <physm:Z>0</physm:Z>
  224.                 </physm:Position>
  225.                 <physm:Orientation>
  226.                   <physm:X>0</physm:X>
  227.                   <physm:Y>0</physm:Y>
  228.                   <physm:Z>0</physm:Z>
  229.                   <physm:W>0</physm:W>
  230.                 </physm:Orientation>
  231.               </phys:MassLocalPose>
  232.             </phys:MassDensity>
  233.             <phys:LocalPose>
  234.               <physm:Position>
  235.                 <physm:X>0.1565</physm:X>
  236.                 <physm:Y>0.08</physm:Y>
  237.                 <physm:Z>-0.05</physm:Z>
  238.               </physm:Position>
  239.               <physm:Orientation>
  240.                 <physm:X>0.842458248</physm:X>
  241.                 <physm:Y>0</physm:Y>
  242.                 <physm:Z>0</physm:Z>
  243.                 <physm:W>0.5387616</physm:W>
  244.               </physm:Orientation>
  245.             </phys:LocalPose>
  246.             <phys:TextureFileName />
  247.             <phys:DiffuseColor>
  248.               <physm:X>0.5</physm:X>
  249.               <physm:Y>0.5</physm:Y>
  250.               <physm:Z>0.5</physm:Z>
  251.               <physm:W>1</physm:W>
  252.             </phys:DiffuseColor>
  253.             <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
  254.             <phys:InnerRadius>0.055999998</phys:InnerRadius>
  255.             <phys:SuspensionTravel>0</phys:SuspensionTravel>
  256.             <phys:Flags>OverrideAxleSpeed</phys:Flags>
  257.             <phys:AxleSpeed>0</phys:AxleSpeed>
  258.             <phys:BrakeTorque>0</phys:BrakeTorque>
  259.           </phys:WheelState>
  260.         </WheelShape>
  261.         <Rotations>-8.31889248</Rotations>
  262.       </RightWheel>
  263.       <LeftWheel>
  264.         <sim:State>
  265.           <sim:Name>P3DXMotorBase:Left wheel</sim:Name>
  266.           <sim:Assets>
  267.             <sim:Mesh>PioneerWheel.bos</sim:Mesh>
  268.           </sim:Assets>
  269.           <sim:Pose>
  270.             <physm:Position>
  271.               <physm:X>2</physm:X>
  272.               <physm:Y>0.077099</physm:Y>
  273.               <physm:Z>2</physm:Z>
  274.             </physm:Position>
  275.             <physm:Orientation>
  276.               <physm:X>0</physm:X>
  277.               <physm:Y>2.0103019E-07</physm:Y>
  278.               <physm:Z>-7.260728E-10</physm:Z>
  279.               <physm:W>1</physm:W>
  280.             </physm:Orientation>
  281.           </sim:Pose>
  282.           <sim:Velocity>
  283.             <physm:X>0</physm:X>
  284.             <physm:Y>0</physm:Y>
  285.             <physm:Z>0</physm:Z>
  286.           </sim:Velocity>
  287.           <sim:AngularVelocity>
  288.             <physm:X>0</physm:X>
  289.             <physm:Y>0</physm:Y>
  290.             <physm:Z>0</physm:Z>
  291.           </sim:AngularVelocity>
  292.           <sim:MassDensity>
  293.             <phys:Mass>0</phys:Mass>
  294.             <phys:InertiaTensor>
  295.               <physm:X>0</physm:X>
  296.               <physm:Y>0</physm:Y>
  297.               <physm:Z>0</physm:Z>
  298.             </phys:InertiaTensor>
  299.             <phys:CenterOfMass>
  300.               <physm:Position>
  301.                 <physm:X>0</physm:X>
  302.                 <physm:Y>0</physm:Y>
  303.                 <physm:Z>0</physm:Z>
  304.               </physm:Position>
  305.               <physm:Orientation>
  306.                 <physm:X>0</physm:X>
  307.                 <physm:Y>0</physm:Y>
  308.                 <physm:Z>0</physm:Z>
  309.                 <physm:W>0</physm:W>
  310.               </physm:Orientation>
  311.             </phys:CenterOfMass>
  312.             <phys:Density>0</phys:Density>
  313.             <phys:LinearDamping>0</phys:LinearDamping>
  314.             <phys:AngularDamping>0</phys:AngularDamping>
  315.             <phys:MassLocalPose>
  316.               <physm:Position>
  317.                 <physm:X>0</physm:X>
  318.                 <physm:Y>0</physm:Y>
  319.                 <physm:Z>0</physm:Z>
  320.               </physm:Position>
  321.               <physm:Orientation>
  322.                 <physm:X>0</physm:X>
  323.                 <physm:Y>0</physm:Y>
  324.                 <physm:Z>0</physm:Z>
  325.                 <physm:W>0</physm:W>
  326.               </physm:Orientation>
  327.             </phys:MassLocalPose>
  328.           </sim:MassDensity>
  329.           <sim:Flags>Dynamic</sim:Flags>
  330.         </sim:State>
  331.         <Flags>None</Flags>
  332.         <ChildCount>0</ChildCount>
  333.         <ReferenceFrame>Global</ReferenceFrame>
  334.         <EmbeddedResourceAssemblies />
  335.         <MeshScale>
  336.           <physm:X>1</physm:X>
  337.           <physm:Y>1</physm:Y>
  338.           <physm:Z>1</physm:Z>
  339.         </MeshScale>
  340.         <MeshRotation>
  341.           <physm:X>0</physm:X>
  342.           <physm:Y>0</physm:Y>
  343.           <physm:Z>0</physm:Z>
  344.         </MeshRotation>
  345.         <MeshTranslation>
  346.           <physm:X>0</physm:X>
  347.           <physm:Y>0</physm:Y>
  348.           <physm:Z>0</physm:Z>
  349.         </MeshTranslation>
  350.         <WheelShape>
  351.           <phys:WheelState>
  352.             <phys:Name>P3DXMotorBase/front left wheel</phys:Name>
  353.             <phys:ShapeId>Wheel</phys:ShapeId>
  354.             <phys:Dimensions>
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  536.               <phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
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  809.       </LaserBox>
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  811.     </LaserRangeFinderEntity>
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  1551.       <BoxShape xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
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  1607.               <physm:X>0</physm:X>
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  1629.     <DepthCameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/simulation/services/2011/01/simulateddepthcam.html">
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  1631.         <sim:Name>KinectCamera</sim:Name>
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  1652.           <physm:X>0</physm:X>
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  1659.             <physm:X>0</physm:X>
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  1663.           <phys:CenterOfMass>
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  1679.           <phys:MassLocalPose>
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  1681.               <physm:X>0</physm:X>
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  1693.         <sim:Flags>Dynamic</sim:Flags>
  1694.       </sim:State>
  1695.       <Flags xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">None</Flags>
  1696.       <ChildCount xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0</ChildCount>
  1697.       <ReferenceFrame xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">Local</ReferenceFrame>
  1698.       <ServiceContract xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">http://schemas.microsoft.com/robotics/simulation/services/2011/01/simulateddepthcam.html</ServiceContract>
  1699.       <EmbeddedResourceAssemblies xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html" />
  1700.       <MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1701.         <physm:X>1</physm:X>
  1702.         <physm:Y>1</physm:Y>
  1703.         <physm:Z>1</physm:Z>
  1704.       </MeshScale>
  1705.       <MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1706.         <physm:X>0</physm:X>
  1707.         <physm:Y>0</physm:Y>
  1708.         <physm:Z>0</physm:Z>
  1709.       </MeshRotation>
  1710.       <MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1711.         <physm:X>0</physm:X>
  1712.         <physm:Y>0</physm:Y>
  1713.         <physm:Z>0</physm:Z>
  1714.       </MeshTranslation>
  1715.       <IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">true</IsRealTimeCamera>
  1716.       <UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>
  1717.       <ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>
  1718.       <CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>
  1719.       <Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5E-05</Near>
  1720.       <Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">12</Far>
  1721.       <ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">640</ViewSizeX>
  1722.       <ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">480</ViewSizeY>
  1723.       <ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.780699968</ViewAngle>
  1724.       <IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>
  1725.       <LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1726.         <X>2</X>
  1727.         <Y>0.53</Y>
  1728.         <Z>0.71</Z>
  1729.       </LookAt>
  1730.       <Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1731.         <X>2</X>
  1732.         <Y>0.53</Y>
  1733.         <Z>1.71</Z>
  1734.       </Location>
  1735.       <DepthRange>4</DepthRange>
  1736.     </DepthCameraEntity>
  1737.     <CameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1738.       <sim:State>
  1739.         <sim:Name>SimulatedWebcam</sim:Name>
  1740.         <sim:Assets />
  1741.         <sim:Pose>
  1742.           <physm:Position>
  1743.             <physm:X>0</physm:X>
  1744.             <physm:Y>0</physm:Y>
  1745.             <physm:Z>-0.029</physm:Z>
  1746.           </physm:Position>
  1747.           <physm:Orientation>
  1748.             <physm:X>8.72664643E-08</physm:X>
  1749.             <physm:Y>8.72664643E-08</physm:Y>
  1750.             <physm:Z>8.726645E-08</physm:Z>
  1751.             <physm:W>1</physm:W>
  1752.           </physm:Orientation>
  1753.         </sim:Pose>
  1754.         <sim:Velocity>
  1755.           <physm:X>0</physm:X>
  1756.           <physm:Y>0</physm:Y>
  1757.           <physm:Z>0</physm:Z>
  1758.         </sim:Velocity>
  1759.         <sim:AngularVelocity>
  1760.           <physm:X>0</physm:X>
  1761.           <physm:Y>0</physm:Y>
  1762.           <physm:Z>0</physm:Z>
  1763.         </sim:AngularVelocity>
  1764.         <sim:MassDensity>
  1765.           <phys:Mass>1</phys:Mass>
  1766.           <phys:InertiaTensor>
  1767.             <physm:X>0</physm:X>
  1768.             <physm:Y>0</physm:Y>
  1769.             <physm:Z>0</physm:Z>
  1770.           </phys:InertiaTensor>
  1771.           <phys:CenterOfMass>
  1772.             <physm:Position>
  1773.               <physm:X>0</physm:X>
  1774.               <physm:Y>0</physm:Y>
  1775.               <physm:Z>0</physm:Z>
  1776.             </physm:Position>
  1777.             <physm:Orientation>
  1778.               <physm:X>0</physm:X>
  1779.               <physm:Y>0</physm:Y>
  1780.               <physm:Z>0</physm:Z>
  1781.               <physm:W>0</physm:W>
  1782.             </physm:Orientation>
  1783.           </phys:CenterOfMass>
  1784.           <phys:Density>0</phys:Density>
  1785.           <phys:LinearDamping>0</phys:LinearDamping>
  1786.           <phys:AngularDamping>0</phys:AngularDamping>
  1787.           <phys:MassLocalPose>
  1788.             <physm:Position>
  1789.               <physm:X>0</physm:X>
  1790.               <physm:Y>0</physm:Y>
  1791.               <physm:Z>0</physm:Z>
  1792.             </physm:Position>
  1793.             <physm:Orientation>
  1794.               <physm:X>0</physm:X>
  1795.               <physm:Y>0</physm:Y>
  1796.               <physm:Z>0</physm:Z>
  1797.               <physm:W>1</physm:W>
  1798.             </physm:Orientation>
  1799.           </phys:MassLocalPose>
  1800.         </sim:MassDensity>
  1801.         <sim:Flags>Dynamic</sim:Flags>
  1802.       </sim:State>
  1803.       <Flags>None</Flags>
  1804.       <ChildCount>0</ChildCount>
  1805.       <ReferenceFrame>Local</ReferenceFrame>
  1806.       <ServiceContract>http://schemas.microsoft.com/robotics/2011/01/simulatedwebcamsensor.html</ServiceContract>
  1807.       <EmbeddedResourceAssemblies />
  1808.       <MeshScale>
  1809.         <physm:X>1</physm:X>
  1810.         <physm:Y>1</physm:Y>
  1811.         <physm:Z>1</physm:Z>
  1812.       </MeshScale>
  1813.       <MeshRotation>
  1814.         <physm:X>0</physm:X>
  1815.         <physm:Y>0</physm:Y>
  1816.         <physm:Z>0</physm:Z>
  1817.       </MeshRotation>
  1818.       <MeshTranslation>
  1819.         <physm:X>0</physm:X>
  1820.         <physm:Y>0</physm:Y>
  1821.         <physm:Z>0</physm:Z>
  1822.       </MeshTranslation>
  1823.       <IsRealTimeCamera>true</IsRealTimeCamera>
  1824.       <UpdateInterval>67</UpdateInterval>
  1825.       <ShadowDisplay>ShowShadows</ShadowDisplay>
  1826.       <CameraModel>FirstPerson</CameraModel>
  1827.       <Near>0.001</Near>
  1828.       <Far>50</Far>
  1829.       <ViewSizeX>640</ViewSizeX>
  1830.       <ViewSizeY>480</ViewSizeY>
  1831.       <ViewAngle>0.780699968</ViewAngle>
  1832.       <IsPhysicsVisible>false</IsPhysicsVisible>
  1833.       <LookAt>
  1834.         <X>2</X>
  1835.         <Y>0.53</Y>
  1836.         <Z>0.97</Z>
  1837.       </LookAt>
  1838.       <Location>
  1839.         <X>2</X>
  1840.         <Y>0.53</Y>
  1841.         <Z>1.97</Z>
  1842.       </Location>
  1843.     </CameraEntity>
  1844.     <PursuitCameraEntity xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns="http://schemas.microsoft.com/robotics/entity/2008/04/pursuitcamera.html">
  1845.       <sim:State>
  1846.         <sim:Name>PursuitCamera</sim:Name>
  1847.         <sim:Assets />
  1848.         <sim:Pose>
  1849.           <physm:Position>
  1850.             <physm:X>3.34445143</physm:X>
  1851.             <physm:Y>2.002601</physm:Y>
  1852.             <physm:Z>9.239522</physm:Z>
  1853.           </physm:Position>
  1854.           <physm:Orientation>
  1855.             <physm:X>-0.00700437</physm:X>
  1856.             <physm:Y>0.9677629</physm:Y>
  1857.             <physm:Z>0.2503048</physm:Z>
  1858.             <physm:W>0.02708126</physm:W>
  1859.           </physm:Orientation>
  1860.         </sim:Pose>
  1861.         <sim:Velocity>
  1862.           <physm:X>0</physm:X>
  1863.           <physm:Y>0</physm:Y>
  1864.           <physm:Z>0</physm:Z>
  1865.         </sim:Velocity>
  1866.         <sim:AngularVelocity>
  1867.           <physm:X>0</physm:X>
  1868.           <physm:Y>0</physm:Y>
  1869.           <physm:Z>0</physm:Z>
  1870.         </sim:AngularVelocity>
  1871.         <sim:MassDensity>
  1872.           <phys:Mass>1</phys:Mass>
  1873.           <phys:InertiaTensor>
  1874.             <physm:X>0</physm:X>
  1875.             <physm:Y>0</physm:Y>
  1876.             <physm:Z>0</physm:Z>
  1877.           </phys:InertiaTensor>
  1878.           <phys:CenterOfMass>
  1879.             <physm:Position>
  1880.               <physm:X>0</physm:X>
  1881.               <physm:Y>0</physm:Y>
  1882.               <physm:Z>0</physm:Z>
  1883.             </physm:Position>
  1884.             <physm:Orientation>
  1885.               <physm:X>0</physm:X>
  1886.               <physm:Y>0</physm:Y>
  1887.               <physm:Z>0</physm:Z>
  1888.               <physm:W>0</physm:W>
  1889.             </physm:Orientation>
  1890.           </phys:CenterOfMass>
  1891.           <phys:Density>0</phys:Density>
  1892.           <phys:LinearDamping>0</phys:LinearDamping>
  1893.           <phys:AngularDamping>0</phys:AngularDamping>
  1894.           <phys:MassLocalPose>
  1895.             <physm:Position>
  1896.               <physm:X>0</physm:X>
  1897.               <physm:Y>0</physm:Y>
  1898.               <physm:Z>0</physm:Z>
  1899.             </physm:Position>
  1900.             <physm:Orientation>
  1901.               <physm:X>0</physm:X>
  1902.               <physm:Y>0</physm:Y>
  1903.               <physm:Z>0</physm:Z>
  1904.               <physm:W>1</physm:W>
  1905.             </physm:Orientation>
  1906.           </phys:MassLocalPose>
  1907.         </sim:MassDensity>
  1908.         <sim:Flags>Dynamic</sim:Flags>
  1909.       </sim:State>
  1910.       <Flags xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">None</Flags>
  1911.       <ChildCount xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0</ChildCount>
  1912.       <ReferenceFrame xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">Global</ReferenceFrame>
  1913.       <MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1914.         <physm:X>1</physm:X>
  1915.         <physm:Y>1</physm:Y>
  1916.         <physm:Z>1</physm:Z>
  1917.       </MeshScale>
  1918.       <MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1919.         <physm:X>0</physm:X>
  1920.         <physm:Y>0</physm:Y>
  1921.         <physm:Z>0</physm:Z>
  1922.       </MeshRotation>
  1923.       <MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1924.         <physm:X>0</physm:X>
  1925.         <physm:Y>0</physm:Y>
  1926.         <physm:Z>0</physm:Z>
  1927.       </MeshTranslation>
  1928.       <IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsRealTimeCamera>
  1929.       <UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>
  1930.       <ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>
  1931.       <CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>
  1932.       <Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.1</Near>
  1933.       <Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5000</Far>
  1934.       <ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">800</ViewSizeX>
  1935.       <ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">600</ViewSizeY>
  1936.       <ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.7853982</ViewAngle>
  1937.       <IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>
  1938.       <LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1939.         <X>3.14</X>
  1940.         <Y>0</Y>
  1941.         <Z>12.84</Z>
  1942.       </LookAt>
  1943.       <Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  1944.         <X>3.34</X>
  1945.         <Y>2</Y>
  1946.         <Z>9.24</Z>
  1947.       </Location>
  1948.       <TargetName>P3DXMotorBase</TargetName>
  1949.       <MinDistance>4</MinDistance>
  1950.       <MaxDistance>6</MaxDistance>
  1951.       <Altitude>2</Altitude>
  1952.       <PreventOcclusion>true</PreventOcclusion>
  1953.       <OcclusionThreshold>0.5</OcclusionThreshold>
  1954.     </PursuitCameraEntity>
包含各模型，非常详细和具体的配置。

ROS：

如果用Gazebo进行机器人三维仿真，可以参考：

机器人模型：http://blog.csdn.net/zhangrelay/article/details/52839752

-----------------------------------------------------------------------------

两者其实没有本质区别，逼真的机器人模型可以用blender等三维软件设计然后导入到环境中，这些文件主要用来配置机器人属性，包括位姿等，以及传感器、电机的具体位姿和其他参数等。


2 环境

机器人运动空间中其他对象共同组成的场景，就是机器人的环境。下面以一个简单环境为例：


环境中有天空、光源、大地和障碍物等，也包括重力、摩擦力的配置，当然也可以设计更为逼真的起伏地形环境。

具体配置文件如下：

  1. <?xml version="1.0" encoding="utf-8"?>
  2. <SimulationState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulation.html">
  3. 	<Gravity>
  4. 		<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>
  5. 		<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">-9.81</Y>
  6. 		<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</Z>
  7. 	</Gravity>
  8. 	<RenderMode>Full</RenderMode>
  9. 	<FramesPerSecond>62.8144646</FramesPerSecond>
  10. 	<Pause>false</Pause>
  11. 	<CameraPosition>
  12. 		<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.66</X>
  13. 		<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">2.22</Y>
  14. 		<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">3.6</Z>
  15. 	</CameraPosition>
  16. 	<CameraLookAt>
  17. 		<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.2</X>
  18. 		<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.96</Y>
  19. 		<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">2.75</Z>
  20. 	</CameraLookAt>
  21. 	<CameraFieldOfView>0.781</CameraFieldOfView>
  22. 	<CameraNearPlane>0.1</CameraNearPlane>
  23. 	<CameraFarPlane>5000</CameraFarPlane>
  24. 	<Lights />
  25. 	<SerializedEntities>
  26. 		<LightSourceEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  27. 			<sim:State>
  28. 				<sim:Name>Sun</sim:Name>
  29. 				<sim:Assets />
  30. 				<sim:Pose>
  31. 					<physm:Position>
  32. 						<physm:X>0</physm:X>
  33. 						<physm:Y>1</physm:Y>
  34. 						<physm:Z>0</physm:Z>
  35. 					</physm:Position>
  36. 					<physm:Orientation>
  37. 						<physm:X>-0.04912025</physm:X>
  38. 						<physm:Y>0</physm:Y>
  39. 						<physm:Z>0.491202474</physm:Z>
  40. 						<physm:W>0.8696593</physm:W>
  41. 					</physm:Orientation>
  42. 				</sim:Pose>
  43. 				<sim:Velocity>
  44. 					<physm:X>0</physm:X>
  45. 					<physm:Y>0</physm:Y>
  46. 					<physm:Z>0</physm:Z>
  47. 				</sim:Velocity>
  48. 				<sim:AngularVelocity>
  49. 					<physm:X>0</physm:X>
  50. 					<physm:Y>0</physm:Y>
  51. 					<physm:Z>0</physm:Z>
  52. 				</sim:AngularVelocity>
  53. 				<sim:MassDensity>
  54. 					<phys:Mass>0</phys:Mass>
  55. 					<phys:InertiaTensor>
  56. 						<physm:X>0</physm:X>
  57. 						<physm:Y>0</physm:Y>
  58. 						<physm:Z>0</physm:Z>
  59. 					</phys:InertiaTensor>
  60. 					<phys:CenterOfMass>
  61. 						<physm:Position>
  62. 							<physm:X>0</physm:X>
  63. 							<physm:Y>0</physm:Y>
  64. 							<physm:Z>0</physm:Z>
  65. 						</physm:Position>
  66. 						<physm:Orientation>
  67. 							<physm:X>0</physm:X>
  68. 							<physm:Y>0</physm:Y>
  69. 							<physm:Z>0</physm:Z>
  70. 							<physm:W>0</physm:W>
  71. 						</physm:Orientation>
  72. 					</phys:CenterOfMass>
  73. 					<phys:Density>0</phys:Density>
  74. 					<phys:LinearDamping>0</phys:LinearDamping>
  75. 					<phys:AngularDamping>0</phys:AngularDamping>
  76. 				</sim:MassDensity>
  77. 				<sim:Flags>Dynamic</sim:Flags>
  78. 			</sim:State>
  79. 			<Flags>DisableRendering</Flags>
  80. 			<ChildCount>0</ChildCount>
  81. 			<ReferenceFrame>Global</ReferenceFrame>
  82. 			<MeshScale>
  83. 				<physm:X>1</physm:X>
  84. 				<physm:Y>1</physm:Y>
  85. 				<physm:Z>1</physm:Z>
  86. 			</MeshScale>
  87. 			<MeshRotation>
  88. 				<physm:X>0</physm:X>
  89. 				<physm:Y>0</physm:Y>
  90. 				<physm:Z>0</physm:Z>
  91. 			</MeshRotation>
  92. 			<MeshTranslation>
  93. 				<physm:X>0</physm:X>
  94. 				<physm:Y>0</physm:Y>
  95. 				<physm:Z>0</physm:Z>
  96. 			</MeshTranslation>
  97. 			<Type>Directional</Type>
  98. 			<Color>
  99. 				<physm:X>1</physm:X>
  100. 				<physm:Y>1</physm:Y>
  101. 				<physm:Z>1</physm:Z>
  102. 				<physm:W>1</physm:W>
  103. 			</Color>
  104. 			<SpotUmbra>90</SpotUmbra>
  105. 			<FalloffStart>0</FalloffStart>
  106. 			<FalloffEnd>30</FalloffEnd>
  107. 			<CastsShadows>false</CastsShadows>
  108. 		</LightSourceEntity>
  109. 		<CameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
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  655. 							<phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
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  708. 		</Pioneer3DX>
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  834. 					<phys:Name>P3DXLaserRangeFinder/SickLRF</phys:Name>
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  886. 					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
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  888. 			</LaserBox>
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  892. 			<sim:State>
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  905. 						<physm:Y>-2.39381848E-06</physm:Y>
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  2155. 						<physm:Y>0.7489961</physm:Y>
  2156. 						<physm:Z>-1.00070715</physm:Z>
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  2158. 					<physm:Orientation>
  2159. 						<physm:X>-8.509706E-06</physm:X>
  2160. 						<physm:Y>4.158797E-05</physm:Y>
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  2165. 				<sim:Velocity>
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  2170. 				<sim:AngularVelocity>
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  2172. 					<physm:Y>0</physm:Y>
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  2175. 				<sim:MassDensity>
  2176. 					<phys:Mass>10</phys:Mass>
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  2180. 						<physm:Z>0</physm:Z>
  2181. 					</phys:InertiaTensor>
  2182. 					<phys:CenterOfMass>
  2183. 						<physm:Position>
  2184. 							<physm:X>0</physm:X>
  2185. 							<physm:Y>0</physm:Y>
  2186. 							<physm:Z>0</physm:Z>
  2187. 						</physm:Position>
  2188. 						<physm:Orientation>
  2189. 							<physm:X>0</physm:X>
  2190. 							<physm:Y>0</physm:Y>
  2191. 							<physm:Z>0</physm:Z>
  2192. 							<physm:W>0</physm:W>
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  2194. 					</phys:CenterOfMass>
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  2196. 					<phys:LinearDamping>0</phys:LinearDamping>
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  2205. 				<physm:X>1</physm:X>
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  2207. 				<physm:Z>1</physm:Z>
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  2209. 			<MeshRotation>
  2210. 				<physm:X>0</physm:X>
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  2212. 				<physm:Z>0</physm:Z>
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  2215. 				<physm:X>0</physm:X>
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  2217. 				<physm:Z>0</physm:Z>
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  2219. 			<BoxShape>
  2220. 				<phys:BoxState>
  2221. 					<phys:Name>greybox</phys:Name>
  2222. 					<phys:ShapeId>Box</phys:ShapeId>
  2223. 					<phys:Dimensions>
  2224. 						<physm:X>1</physm:X>
  2225. 						<physm:Y>1.5</physm:Y>
  2226. 						<physm:Z>0.5</physm:Z>
  2227. 					</phys:Dimensions>
  2228. 					<phys:Radius>0</phys:Radius>
  2229. 					<phys:Material>
  2230. 						<phys:Name>gbox</phys:Name>
  2231. 						<phys:Restitution>0.5</phys:Restitution>
  2232. 						<phys:DynamicFriction>0.4</phys:DynamicFriction>
  2233. 						<phys:StaticFriction>0.5</phys:StaticFriction>
  2234. 						<phys:MaterialIndex>2</phys:MaterialIndex>
  2235. 					</phys:Material>
  2236. 					<phys:MassDensity>
  2237. 						<phys:Mass>10</phys:Mass>
  2238. 						<phys:InertiaTensor>
  2239. 							<physm:X>0</physm:X>
  2240. 							<physm:Y>0</physm:Y>
  2241. 							<physm:Z>0</physm:Z>
  2242. 						</phys:InertiaTensor>
  2243. 						<phys:CenterOfMass>
  2244. 							<physm:Position>
  2245. 								<physm:X>0</physm:X>
  2246. 								<physm:Y>0</physm:Y>
  2247. 								<physm:Z>0</physm:Z>
  2248. 							</physm:Position>
  2249. 							<physm:Orientation>
  2250. 								<physm:X>0</physm:X>
  2251. 								<physm:Y>0</physm:Y>
  2252. 								<physm:Z>0</physm:Z>
  2253. 								<physm:W>0</physm:W>
  2254. 							</physm:Orientation>
  2255. 						</phys:CenterOfMass>
  2256. 						<phys:Density>0</phys:Density>
  2257. 						<phys:LinearDamping>0</phys:LinearDamping>
  2258. 						<phys:AngularDamping>0</phys:AngularDamping>
  2259. 					</phys:MassDensity>
  2260. 					<phys:LocalPose>
  2261. 						<physm:Position>
  2262. 							<physm:X>0</physm:X>
  2263. 							<physm:Y>0</physm:Y>
  2264. 							<physm:Z>0</physm:Z>
  2265. 						</physm:Position>
  2266. 						<physm:Orientation>
  2267. 							<physm:X>0</physm:X>
  2268. 							<physm:Y>0</physm:Y>
  2269. 							<physm:Z>0</physm:Z>
  2270. 							<physm:W>1</physm:W>
  2271. 						</physm:Orientation>
  2272. 					</phys:LocalPose>
  2273. 					<phys:TextureFileName />
  2274. 					<phys:DiffuseColor>
  2275. 						<physm:X>0.5</physm:X>
  2276. 						<physm:Y>0.5</physm:Y>
  2277. 						<physm:Z>0.5</physm:Z>
  2278. 						<physm:W>1</physm:W>
  2279. 					</phys:DiffuseColor>
  2280. 					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
  2281. 				</phys:BoxState>
  2282. 			</BoxShape>
  2283. 		</SingleShapeEntity>
  2284. 		<SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
  2285. 			<sim:State>
  2286. 				<sim:Name>bluesphere</sim:Name>
  2287. 				<sim:Assets>
  2288. 					<sim:Effect>default</sim:Effect>
  2289. 				</sim:Assets>
  2290. 				<sim:Pose>
  2291. 					<physm:Position>
  2292. 						<physm:X>-2</physm:X>
  2293. 						<physm:Y>0.799</physm:Y>
  2294. 						<physm:Z>-3</physm:Z>
  2295. 					</physm:Position>
  2296. 					<physm:Orientation>
  2297. 						<physm:X>0</physm:X>
  2298. 						<physm:Y>0</physm:Y>
  2299. 						<physm:Z>-9.713688E-08</physm:Z>
  2300. 						<physm:W>1</physm:W>
  2301. 					</physm:Orientation>
  2302. 				</sim:Pose>
  2303. 				<sim:Velocity>
  2304. 					<physm:X>0</physm:X>
  2305. 					<physm:Y>0</physm:Y>
  2306. 					<physm:Z>0</physm:Z>
  2307. 				</sim:Velocity>
  2308. 				<sim:AngularVelocity>
  2309. 					<physm:X>0</physm:X>
  2310. 					<physm:Y>0</physm:Y>
  2311. 					<physm:Z>0</physm:Z>
  2312. 				</sim:AngularVelocity>
  2313. 				<sim:MassDensity>
  2314. 					<phys:Mass>10</phys:Mass>
  2315. 					<phys:InertiaTensor>
  2316. 						<physm:X>0</physm:X>
  2317. 						<physm:Y>0</physm:Y>
  2318. 						<physm:Z>0</physm:Z>
  2319. 					</phys:InertiaTensor>
  2320. 					<phys:CenterOfMass>
  2321. 						<physm:Position>
  2322. 							<physm:X>0</physm:X>
  2323. 							<physm:Y>0</physm:Y>
  2324. 							<physm:Z>0</physm:Z>
  2325. 						</physm:Position>
  2326. 						<physm:Orientation>
  2327. 							<physm:X>0</physm:X>
  2328. 							<physm:Y>0</physm:Y>
  2329. 							<physm:Z>0</physm:Z>
  2330. 							<physm:W>0</physm:W>
  2331. 						</physm:Orientation>
  2332. 					</phys:CenterOfMass>
  2333. 					<phys:Density>0</phys:Density>
  2334. 					<phys:LinearDamping>0</phys:LinearDamping>
  2335. 					<phys:AngularDamping>0</phys:AngularDamping>
  2336. 				</sim:MassDensity>
  2337. 				<sim:Flags>Dynamic</sim:Flags>
  2338. 			</sim:State>
  2339. 			<Flags>None</Flags>
  2340. 			<ChildCount>0</ChildCount>
  2341. 			<ReferenceFrame>Global</ReferenceFrame>
  2342. 			<MeshScale>
  2343. 				<physm:X>1</physm:X>
  2344. 				<physm:Y>1</physm:Y>
  2345. 				<physm:Z>1</physm:Z>
  2346. 			</MeshScale>
  2347. 			<MeshRotation>
  2348. 				<physm:X>0</physm:X>
  2349. 				<physm:Y>0</physm:Y>
  2350. 				<physm:Z>0</physm:Z>
  2351. 			</MeshRotation>
  2352. 			<MeshTranslation>
  2353. 				<physm:X>0</physm:X>
  2354. 				<physm:Y>0</physm:Y>
  2355. 				<physm:Z>0</physm:Z>
  2356. 			</MeshTranslation>
  2357. 			<SphereShape>
  2358. 				<phys:SphereState>
  2359. 					<phys:Name>bluesphere</phys:Name>
  2360. 					<phys:ShapeId>Sphere</phys:ShapeId>
  2361. 					<phys:Dimensions>
  2362. 						<physm:X>0</physm:X>
  2363. 						<physm:Y>0</physm:Y>
  2364. 						<physm:Z>0</physm:Z>
  2365. 					</phys:Dimensions>
  2366. 					<phys:Radius>0.8</phys:Radius>
  2367. 					<phys:Material>
  2368. 						<phys:Name>bphere</phys:Name>
  2369. 						<phys:Restitution>0.5</phys:Restitution>
  2370. 						<phys:DynamicFriction>0.4</phys:DynamicFriction>
  2371. 						<phys:StaticFriction>0.5</phys:StaticFriction>
  2372. 						<phys:MaterialIndex>3</phys:MaterialIndex>
  2373. 					</phys:Material>
  2374. 					<phys:MassDensity>
  2375. 						<phys:Mass>10</phys:Mass>
  2376. 						<phys:InertiaTensor>
  2377. 							<physm:X>0</physm:X>
  2378. 							<physm:Y>0</physm:Y>
  2379. 							<physm:Z>0</physm:Z>
  2380. 						</phys:InertiaTensor>
  2381. 						<phys:CenterOfMass>
  2382. 							<physm:Position>
  2383. 								<physm:X>0</physm:X>
  2384. 								<physm:Y>0</physm:Y>
  2385. 								<physm:Z>0</physm:Z>
  2386. 							</physm:Position>
  2387. 							<physm:Orientation>
  2388. 								<physm:X>0</physm:X>
  2389. 								<physm:Y>0</physm:Y>
  2390. 								<physm:Z>0</physm:Z>
  2391. 								<physm:W>0</physm:W>
  2392. 							</physm:Orientation>
  2393. 						</phys:CenterOfMass>
  2394. 						<phys:Density>0</phys:Density>
  2395. 						<phys:LinearDamping>0</phys:LinearDamping>
  2396. 						<phys:AngularDamping>0</phys:AngularDamping>
  2397. 					</phys:MassDensity>
  2398. 					<phys:LocalPose>
  2399. 						<physm:Position>
  2400. 							<physm:X>0</physm:X>
  2401. 							<physm:Y>0</physm:Y>
  2402. 							<physm:Z>0</physm:Z>
  2403. 						</physm:Position>
  2404. 						<physm:Orientation>
  2405. 							<physm:X>0</physm:X>
  2406. 							<physm:Y>0</physm:Y>
  2407. 							<physm:Z>0</physm:Z>
  2408. 							<physm:W>1</physm:W>
  2409. 						</physm:Orientation>
  2410. 					</phys:LocalPose>
  2411. 					<phys:TextureFileName />
  2412. 					<phys:DiffuseColor>
  2413. 						<physm:X>0.4</physm:X>
  2414. 						<physm:Y>0.3</physm:Y>
  2415. 						<physm:Z>0.7</physm:Z>
  2416. 						<physm:W>1</physm:W>
  2417. 					</phys:DiffuseColor>
  2418. 					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
  2419. 				</phys:SphereState>
  2420. 			</SphereShape>
  2421. 		</SingleShapeEntity>
  2422. 	</SerializedEntities>
  2423. </SimulationState>

ROS：请参考：

1 http://blog.csdn.net/zhangrelay/article/details/52842627

2 http://blog.csdn.net/ZhangRelay/article/details/52842761


3 算法

算法是机器人设计的核心，由编程语言实现。不论RDS和ROS都提供了非常丰富的接口，可以使用几乎所有主流语言进行算法设计，同时，都提供了图形化编程方式，极大降低入门难度。

这里不涉及算法具体实现和说明，依据用途不同，有环境建模功能的，如SLAM等；也包括任务规划算法，还有物体分类识别，语音交互等，差别太大，依据需要自学。

RDS：


ROS:

http://blog.csdn.net/zhangrelay/article/details/53020569

依靠可视化图形编程，机器人编程能立刻普及到小学和幼儿园！

除此之外，RDS推荐C#和SPL，ROS推荐C++和Python，分别为编译型和解释型。

ROS indigo： http://blog.csdn.net/column/details/13335.html

ROS Kinetic： http://blog.csdn.net/column/details/13113.html



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