Equa ion Chap e 1 Sec ion 1
Au o : Jesús Tama i Domínguez
Tu o : Fede ico Cues a Rojo

Resumen
Abs ac
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$ sudo sh -c 'echo "deb h p://packages. os.o g/ os/ubun u
$(lsb_ elease -sc) main" > /e c/ap /sou ces.lis .d/ os-
la es .lis '
& sudo ap -key ad --keyse e hkp://ha.pool.sks-
keyse e s.ne :80 -- ec -key
421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo ap -ge upda e
$ sudo ap -ge ins all os-melodic-desk op- ull
$ sou ce /op / os/melodic/se up.bash
$ mkdi -p ~/ca kin_ws/s c
$ cd ~/ca kin_ws/
$ ca kin_make
$ sou ce de el/se up.bash
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$ ca kin_c ea e_pkg nomb e_paque e dependencias
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& sudo ap -ge ins all build-essen ial lib inyxml-de libboos -
all-de cmake me cu ial pkg-con ig
& sudo ap -ge ins all libsd o ma 2-de
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<link name='base'>
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<pose>0 0 0.5 0 0 0</pose>
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< isual name=' isual_base'>
<geome y>
<mesh>
<u i>model://and uino_desc ip ion/meshes/base.s l</u i>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geome y>
<ma e ial>
<ambien >0.8 0 0 1.0</ambien >
<di use>0.8 0 0 1.0</di use>
</ma e ial>
</ isual>
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<collision name='collision_base'>
<geome y>
<mesh>
<u i>model://and uino_desc ip ion/meshes/collision_base.s l
</u i>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geome y>
</collision>
<su ace>
< ic ion>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</ ic ion>
</su ace>
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<ine ial>
<mass>0.3</mass>
<ine ia>
<ixx>2.423</ixx>
<ixy>0</ixy>
<ixz>0.255</ixz>
<iyy>3.557</iyy>
<iyz>0</iyz>
<izz>3.410</izz>
</ine ia>
</ine ial>
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<senso ype=" ay" name="hc_s 04_1">
<pose>0.4575 0.40 0.78 0 0.175 0.7854</pose>
< isualize> ue</ isualize>
<upda e_ a e>30</upda e_ a e>
< ay>
<scan>
<ho izon al>
<samples>32</samples>
< esolu ion>1</ esolu ion>
<min_angle>-0.3926991</min_angle>
<max_angle>0.3926991</max_angle>
</ho izon al>
$ os un q -g aph q -g aph

$ os un q _image_ iew q _image_ iew /came a/image
$ os un q - - ee q - - ee
$ os un iz iz
$ oslaunch gazebo2 iz gazebo2 iz.launch
Nomb e_ a iable = can idad;
& n = 100;
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35

<plugin name="came a_con olle "
ilename="libgazebo_ os_openni_kinec .so">
<pose>0.01 0 0 0 0 0</pose>
<alwaysOn> ue</alwaysOn>
<upda eRa e>30.0</upda eRa e>
<came aName>came a</came aName>
< ameName>came a_link</ ameName>
<imageTopicName>image</imageTopicName>
<dep hImageTopicName>dep h/image</dep hImageTopicName>
<poin CloudTopicName>dep h/poin s</poin CloudTopicName>
<came aIn oTopicName>came a_in o</came aIn oTopicName>
<dep hImageCame aIn oTopicName>dep h/came a_in o
</dep hImageCame aIn oTopicName>
<poin CloudCu o >0.4</poin CloudCu o >
<hackBaseline>0.07</hackBaseline>
<dis o ionK1>0.0</dis o ionK1>
<dis o ionK2>0.0</dis o ionK2>
<dis o ionK3>0.0</dis o ionK3>
<dis o ionT1>0.0</dis o ionT1>
<dis o ionT2>0.0</dis o ionT2>
<CxP ime>0.0</CxP ime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
< ocalLeng h>0.0</ ocalLeng h>
</plugin>
<plugin name="hc_s 04_2_plugin"
ilename="libgazebo_ os_ ange.so">
<gaussianNoise>0.005</gaussianNoise>
<always_on> ue</always_on>
<upda eRa e>30</upda eRa e>
< opicName>hc_s 04_2</ opicName>
< ameName>hc_s 04_2</ ameName>
< ameId>hc_s 04_2</ ameId>
< o >32</ o >
< adia ion>ul asound</ adia ion>
</plugin>
<plugin name="gazebo_ os_imu_con olle "
ilename="libhec o _gazebo_ os_imu.so">
< u nG a i yO > alse</ u nG a i yO >
<alwaysOn> ue</alwaysOn>
<bodyName>IMU_link</bodyName>
< ameName>IMU_link</ ameName>
< ameId>IMU_link</ ameId>
< opicName>imu</ opicName>
<se iceName>imu_se ice</se iceName>
<gaussianNoise>0.0</gaussianNoise>
< pyO se s>0 0 0</ pyO se s>
<upda eRa e>30.0</upda eRa e>
</plugin>
<plugin name="di e en ial_d i e_con olle "
ilename="libgazebo_ os_di _d i e.so">
<alwaysOn> ue</alwaysOn>
<upda eRa e>25.0</upda eRa e>
<le Join > ueda_izquie da_join </le Join >
< igh Join > ueda_de echa_join </ igh Join >
<wheelSepa a ion>1.5</wheelSepa a ion>
<wheelDiame e >0.63</wheelDiame e >
< o que>5</ o que>
<commandTopic>cmd_ el</commandTopic>
<odome yTopic>odom</odome yTopic>
<odome yF ame>odom</odome yF ame>
< obo BaseF ame>base_link</ obo BaseF ame>
< osDebugLe el>na</ osDebugLe el>
<publishWheelTF> alse</publishWheelTF>
<publishOdomTF> ue</publishOdomTF>
<publishWheelJoin S a e> alse</publishWheelJoin S a e>
<wheelAccele a ion>0</wheelAccele a ion>
<wheelTo que>5</wheelTo que>
<odome ySou ce>1</odome ySou ce>
<publishT >1</publishT >
</plugin>
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$ gz sd -k and uino_desc ip ion/sd /and uino.sd
$ os un pysd sd 2u d .py and uino.sd and uino.u d
$ u d _ o_g aphiz and uino.u d
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$ sudo nano ~/.igni ion/ uel/con ig.yaml

$ sou ce /de el/se up.bash
$ expo GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:
/home/k ame ool/ca kin_ws/s c/
$ oslaunch and uino_gazebo and uino_wo ld_ci cui o_deco.launch
$ oslaunch gazebo_mul i_ obo and uino.launch
$ os un gazebo_ ollowe Followe _obs aculos and uino1
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$ oslaunch gazebo_mul i_ obo obo s.launch
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$ os un gazebo_ ollowe Followe _obs aculos nomb e_ obo

$ ca kin_make
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