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# Gazebo Physics Simulation Example
This script provides a basic example of interacting with Gazebo for physics simulation. It demonstrates how to launch a Gazebo world and interact with a simulated robot (e.g., publishing commands, reading sensor data).
```python
import rclpy
from rclpy.node import Node
from gazebo_msgs.srv import SpawnEntity, DeleteEntity
from geometry_msgs.msg import Pose
class GazeboSimulationClient(Node):
def __init__(self):
super().__init__('gazebo_simulation_client')
self.spawn_client = self.create_client(SpawnEntity, 'spawn_entity')
self.delete_client = self.create_client(DeleteEntity, 'delete_entity')
while not self.spawn_client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('spawn_entity service not available, waiting again...')
while not self.delete_client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('delete_entity service not available, waiting again...')
self.get_logger().info('Gazebo simulation client ready.')
def spawn_robot(self, name, xml_path, x=0.0, y=0.0, z=0.0):
# Placeholder for robot XML content
with open(xml_path, 'r') as f:
robot_xml = f.read()
request = SpawnEntity.Request()
request.name = name
request.xml = robot_xml
request.robot_namespace = name
request.initial_pose = Pose()
request.initial_pose.position.x = x
request.initial_pose.position.y = y
request.initial_pose.position.z = z
self.get_logger().info(f'Spawning entity: {name}')
future = self.spawn_client.call_async(request)
rclpy.spin_until_future_complete(self, future)
if future.result() is not None:
self.get_logger().info(f'Spawn result: {future.result().status_message}')
else:
self.get_logger().error('Service call failed %r' % (future.exception(),))
def delete_robot(self, name):
request = DeleteEntity.Request()
request.name = name
self.get_logger().info(f'Deleting entity: {name}')
future = self.delete_client.call_async(request)
rclpy.spin_until_future_complete(self, future)
if future.result() is not None:
self.get_logger().info(f'Delete result: {future.result().status_message}')
else:
self.get_logger().error('Service call failed %r' % (future.exception(),))
def main(args=None):
rclpy.init(args=args)
client = GazeboSimulationClient()
# Example: Spawn a simple box (you'd replace box.xml with your robot model)
# This assumes 'box.xml' is available or you provide a full path to a valid URDF/SDF
# For a real humanoid, you would load its specific URDF/SDF XML
# client.spawn_robot('my_humanoid', 'path/to/humanoid.urdf', 0.0, 0.0, 1.0)
# time.sleep(5) # Simulate some time running
# client.delete_robot('my_humanoid')
client.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
# TODO: Expand this Gazebo simulation example to include a full humanoid robot model,
# demonstrate publishing joint commands, reading sensor data, and implementing basic control loops.
# Ensure the example is reproducible and clearly explains setup steps (e.g., installing Gazebo,
# sourcing robot models).
``` |