mobot_room.world-ROS2Gazebo9附1

Gazebo中的世界文件（.world）包含模拟环境中的所有对象。这些对象是机器人模型、环境、照明、传感器和其他对象等。

Gazebo使用SDF xml文件格式来保存模拟配置。世界文件通常具有.world扩展名。以下是世界文件的基本格式。

<?xml version="1.0" ?>
<sdf version='1.6'><world name="default"><physics type="ode">...</physics><scene>...</scene><model name="box">...</model><model name="sphere">...</model><light name="spotlight">...</light></world>
</sdf>

粘贴以下代码到mobot_room.world，其中包含使用Building Editor搭建的模拟对象的描述，例如灯光、地平面、墙壁和白球。

<?xml version="1.0" ?>
<sdf version='1.6'><world name='default'><light name='sun' type='directional'><cast_shadows>1</cast_shadows><pose frame=''>0 0 10 0 -0 0</pose><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.2 0.2 0.2 1</specular><attenuation><range>1000</range><constant>0.9</constant><linear>0.01</linear><quadratic>0.001</quadratic></attenuation><direction>-0.5 0.1 -0.9</direction></light><model name='ground_plane'><static>1</static><link name='link'><collision name='collision'><geometry><plane><normal>0 0 1</normal><size>100 100</size></plane></geometry><surface><contact><collide_bitmask>65535</collide_bitmask><ode/></contact><friction><ode><mu>100</mu><mu2>50</mu2></ode><torsional><ode/></torsional></friction><bounce/></surface><max_contacts>10</max_contacts></collision><visual name='visual'><cast_shadows>0</cast_shadows><geometry><plane><normal>0 0 1</normal><size>100 100</size></plane></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link></model><gravity>0 0 -9.8</gravity><magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field><atmosphere type='adiabatic'/><physics name='default_physics' default='0' type='ode'><max_step_size>0.001</max_step_size><real_time_factor>1</real_time_factor><real_time_update_rate>1000</real_time_update_rate></physics><scene><ambient>0.4 0.4 0.4 1</ambient><background>0.7 0.7 0.7 1</background><shadows>1</shadows></scene><audio><device>default</device></audio><wind/><spherical_coordinates><surface_model>EARTH_WGS84</surface_model><latitude_deg>0</latitude_deg><longitude_deg>0</longitude_deg><elevation>0</elevation><heading_deg>0</heading_deg></spherical_coordinates><model name='sudhir.building'><pose frame=''>-1.27854 7.44696 0 0 -0 0</pose><link name='Wall_0'><collision name='Wall_0_Collision'><geometry><box><size>4 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_0_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>4 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-7.92943 1.85 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_10'><collision name='Wall_10_Collision'><geometry><box><size>2.5 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_10_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.5 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.996078 0.47451 0.0196078 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-0.891787 -0.14494 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_11'><collision name='Wall_11_Collision'><geometry><box><size>2.5 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_11_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.5 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.996078 0.47451 0.0196078 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-2.06679 -1.31994 0 0 -0 3.14159</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_13'><collision name='Wall_13_Collision'><geometry><box><size>1.75 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_13_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>1.75 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.921569 0.807843 0.615686 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-0.908613 2.9996 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_14'><collision name='Wall_14_Collision'><geometry><box><size>2.75 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_14_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.75 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.996078 0.47451 0.0196078 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>0.391387 2.19961 0 0 -0 0</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_17'><collision name='Wall_17_Collision'><geometry><box><size>1.75 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_17_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>1.75 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.921569 0.807843 0.615686 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>2.63138 3.01972 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_18'><collision name='Wall_18_Collision'><geometry><box><size>2.5 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_18_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.5 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.996078 0.47451 0.0196078 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>3.80638 2.21972 0 0 -0 0</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_20'><collision name='Wall_20_Collision'><geometry><box><size>2.5 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_20_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.5 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.921569 0.807843 0.615686 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>5.74898 2.68495 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_22'><collision name='Wall_22_Collision'><geometry><box><size>2.25 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_22_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.25 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.921569 0.807843 0.615686 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>6.81909 0.722229 0 0 -0 0</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_24'><collision name='Wall_24_Collision'><geometry><box><size>1.75 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_24_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>1.75 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.996078 0.47451 0.0196078 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>5.82943 -0.902428 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_25'><collision name='Wall_25_Collision'><geometry><box><size>2.25 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_25_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.25 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.921569 0.807843 0.615686 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>6.87943 -1.70243 0 0 -0 0</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_3'><collision name='Wall_3_Collision'><geometry><box><size>4 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_3_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>4 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-7.92943 -2 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_4'><collision name='Wall_4_Collision'><geometry><box><size>16 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_4_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>16 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-0.004434 -3.925 0 0 -0 0</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_5'><pose frame=''>7.92057 0 0 0 -0 1.5708</pose><visual name='Wall_5_Visual_0'><pose frame=''>-3.92553 0 1.25 0 -0 0</pose><geometry><box><size>0.148947 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><collision name='Wall_5_Collision_0'><geometry><box><size>0.148947 0.15 2.5</size></box></geometry><pose frame=''>-3.92553 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_5_Visual_1'><pose frame=''>0.524473 0 1.25 0 -0 0</pose><geometry><box><size>6.95105 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><collision name='Wall_5_Collision_1'><geometry><box><size>6.95105 0.15 2.5</size></box></geometry><pose frame=''>0.524473 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_5_Visual_2'><pose frame=''>-3.40105 0 2.25 0 -0 0</pose><geometry><box><size>0.9 0.15 0.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><collision name='Wall_5_Collision_2'><geometry><box><size>0.9 0.15 0.5</size></box></geometry><pose frame=''>-3.40105 0 2.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_6'><pose frame=''>-0.004434 3.925 0 0 -0 3.14159</pose><visual name='Wall_6_Visual_0'><pose frame=''>-0.655307 0 1.25 0 -0 0</pose><geometry><box><size>14.6894 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><collision name='Wall_6_Collision_0'><geometry><box><size>14.6894 0.15 2.5</size></box></geometry><pose frame=''>-0.655307 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_6_Visual_1'><pose frame=''>7.79469 0 1.25 0 -0 0</pose><geometry><box><size>0.410614 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><collision name='Wall_6_Collision_1'><geometry><box><size>0.410614 0.15 2.5</size></box></geometry><pose frame=''>7.79469 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_6_Visual_2'><pose frame=''>7.13939 0 2.25 0 -0 0</pose><geometry><box><size>0.9 0.15 0.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Bricks</name></script><ambient>1 1 1 1</ambient></material><meta><layer>0</layer></meta></visual><collision name='Wall_6_Collision_2'><geometry><box><size>0.9 0.15 0.5</size></box></geometry><pose frame=''>7.13939 0 2.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_8'><collision name='Wall_8_Collision'><geometry><box><size>3 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_8_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>3 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.996078 0.47451 0.0196078 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-3.24179 2.45506 0 0 -0 -1.5708</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><link name='Wall_9'><collision name='Wall_9_Collision'><geometry><box><size>2.5 0.15 2.5</size></box></geometry><pose frame=''>0 0 1.25 0 -0 0</pose><max_contacts>10</max_contacts><surface><contact><ode/></contact><bounce/><friction><torsional><ode/></torsional><ode/></friction></surface></collision><visual name='Wall_9_Visual'><pose frame=''>0 0 1.25 0 -0 0</pose><geometry><box><size>2.5 0.15 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><ambient>0.921569 0.807843 0.615686 1</ambient></material><meta><layer>0</layer></meta></visual><pose frame=''>-2.06679 1.03006 0 0 -0 0</pose><self_collide>0</self_collide><enable_wind>0</enable_wind><kinematic>0</kinematic></link><static>1</static></model><state world_name='default'><sim_time>232 785000000</sim_time><real_time>118 702538223</real_time><wall_time>1551031600 831011974</wall_time><iterations>118381</iterations><model name='ground_plane'><pose frame=''>0 0 0 0 -0 0</pose><scale>1 1 1</scale><link name='link'><pose frame=''>0 0 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link></model><model name='my_ball'><pose frame=''>3.55994 -1.22025 0.1 0.018695 -0 0</pose><scale>1 1 1</scale><link name='link_0'><pose frame=''>3.55994 -1.22025 0.1 0.018695 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link></model><model name='sudhir.building'><pose frame=''>0.673102 -0.134423 0 0 -0 0</pose><scale>1 1 1</scale><link name='Wall_0'><pose frame=''>-7.25633 1.71558 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_10'><pose frame=''>-0.218688 -0.279363 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_11'><pose frame=''>-1.39369 -1.45436 0 0 -0 3.14159</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_13'><pose frame=''>-0.235508 2.86522 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_14'><pose frame=''>1.06449 2.06519 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_17'><pose frame=''>3.30448 2.88532 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_18'><pose frame=''>4.47948 2.0853 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_20'><pose frame=''>6.42208 2.55052 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_22'><pose frame=''>7.49219 0.587807 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_24'><pose frame=''>6.50253 -1.03685 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_25'><pose frame=''>7.55253 -1.83685 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_3'><pose frame=''>-7.25633 -2.13442 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_4'><pose frame=''>0.668672 -4.05942 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_5'><pose frame=''>8.59367 -0.134423 0 0 -0 1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_6'><pose frame=''>0.668672 3.79062 0 0 -0 3.14159</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_8'><pose frame=''>-2.56869 2.32064 0 0 0 -1.5708</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link><link name='Wall_9'><pose frame=''>-1.39369 0.895637 0 0 -0 0</pose><velocity>0 0 0 0 -0 0</velocity><acceleration>0 0 0 0 -0 0</acceleration><wrench>0 0 0 0 -0 0</wrench></link></model><light name='sun'><pose frame=''>0 0 10 0 -0 0</pose></light></state><gui fullscreen='0'><camera name='user_camera'><pose frame=''>15.4065 -7.32713 9.3415 -0 0.531643 2.6842</pose><view_controller>orbit</view_controller><projection_type>perspective</projection_type></camera></gui><model name='my_ball'><link name='link_0'><inertial><mass>1</mass><inertia><ixx>0.1</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.1</iyy><iyz>0</iyz><izz>0.1</izz></inertia><pose frame=''>0 0 0 0 -0 0</pose></inertial><pose frame=''>-0 -0 0 0 -0 0</pose><gravity>1</gravity><self_collide>0</self_collide><kinematic>0</kinematic><enable_wind>0</enable_wind><visual name='visual'><pose frame=''>0 0 0 0 -0 0</pose><geometry><sphere><radius>0.1</radius></sphere></geometry><material><lighting>1</lighting><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script><shader type='vertex'><normal_map>__default__</normal_map></shader><ambient>1 1 1 1</ambient><diffuse>1 1 1 1</diffuse><specular>1 1 1 1</specular><emissive>1 1 1 1</emissive></material><transparency>0</transparency><cast_shadows>1</cast_shadows></visual><collision name='collision'><laser_retro>0</laser_retro><max_contacts>10</max_contacts><pose frame=''>0 0 0 0 -0 0</pose><geometry><sphere><radius>0.1</radius></sphere></geometry><surface><friction><ode><mu>1</mu><mu2>1</mu2><fdir1>0 0 0</fdir1><slip1>0</slip1><slip2>0</slip2></ode><torsional><coefficient>1</coefficient><patch_radius>0</patch_radius><surface_radius>0</surface_radius><use_patch_radius>1</use_patch_radius><ode><slip>0</slip></ode></torsional></friction><bounce><restitution_coefficient>0</restitution_coefficient><threshold>1e+06</threshold></bounce><contact><collide_without_contact>0</collide_without_contact><collide_without_contact_bitmask>1</collide_without_contact_bitmask><collide_bitmask>1</collide_bitmask><ode><soft_cfm>0</soft_cfm><soft_erp>0.2</soft_erp><kp>1e+13</kp><kd>1</kd><max_vel>0.01</max_vel><min_depth>0</min_depth></ode><bullet><split_impulse>1</split_impulse><split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold><soft_cfm>0</soft_cfm><soft_erp>0.2</soft_erp><kp>1e+13</kp><kd>1</kd></bullet></contact></surface></collision></link><static>0</static><allow_auto_disable>1</allow_auto_disable><pose frame=''>3.55994 1.41227 0 0 -0 0</pose></model></world>
</sdf>

此时，运行如下命令在Gazebo中启动世界环境：

$ gazebo mobot_room.world

一切正常应该看到下图。稍后解释为什么会有白球。

另外，可以按照以下教程创建自定义世界环境。

建立世界环境
在世界环境中创造建筑物

请确保在世界环境的文件保存为mobot_room.world在mobot/src/mobot/worlds文件中。

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