Gazebo 材质效果

简介

Gazebo是ROS机器人技术中常用的仿真环境，它内置了一些常用的材质，可为仿真环境中的物体提供更好的显示效果。

用法

Gazebo内置材质一般是用在<material>标签中，例如在 .world 文件中给地面设置灰色材质：

<model name='ground_plane'>
  ...
  <link name='link'>
    ...
    <visual name='visual'>
      ...
      <material>
        <script>
          <uri>file://media/materials/scripts/gazebo.material</uri>
          <name>Gazebo/Grey</name>
        </script>
      </material>
    </visual>
  </link>
</model>

预设材质效果列表

材质名称	效果1	效果2
White
Grey
DarkGrey
FlatBlack
Black
RedBright
Red
Green
Blue
Yellow
ZincYellow
DarkYellow
Purple
Turquoise
Orange
Indigo
WhiteGlow
RedGlow
GreenGlow
BlueGlow
YellowGlow
PurpleGlow
TurquoiseGlow
TurquoiseGlowOutline
RedTransparentOverlay
GreenTransparentOverlay
BlueTransparentOverlay
OrangeTransparentOverlay
DarkOrangeTransparentOverlay
RedTransparent
GreenTransparent
BlueTransparent
YellowTransparent
OrangeTransparent
DarkMagentaTransparent
GreyTransparent
BlackTransparent
LightOff
LightOn
BlueLaser
LightBlueLaser
JointAnchor
CoM
WoodFloor
CeilingTiled
PaintedWall
PioneerBody
Pioneer2Body
Gold
GreyGradientSky
CloudySky
WoodPallet
Wood
Bricks
Road
Residential
Tertiary
Pedestrian
Footway
Motorway
Lanes_6
Trunk
Lanes_4
Primary
Lanes_2
Secondary
Lane_1
Steps
san_fauxcity_sign
GaussianCameraNoise
CameraDistortionMap
WideLensMap
CameraLensFlare
PointCloud
PointHandle
BuildingFrame
Runway
Grass
Editor
EditorPlane
DepthMap
XYZPoints
LaserScan1st
LaserScan2nd