I-Gazebo: Isilingisi samarobhothi esinomthombo ovulekile esinakekelwa yi-Open Robotics

I-Gazebo: Isilingisi se-robotics esiwusizo somthombo ovulekile se-Linux

Eminyakeni engaphezu kwe-4 edlule, sanikezela ukushicilelwa okufika ngesikhathi isofthiwe emangalisayo yomthombo ovulekile yamarobhothi ebizwa nge-ROS, esiyichaze njengoHlelo Olusebenzayo LweRobhothi olunikeza uhlaka oluwusizo noluguquguqukayo lokubhala isofthiwe esebenza kahle nephumelelayo yamarobhothi. Ngaphezu kwalokho, ngokuvamile, bekuyiqoqo lamathuluzi, imitapo yolwazi, nezivumelwano inhloso yazo kuwukwenza lula umsebenzi wokudala ukuziphatha kwamarobhothi okuyinkimbinkimbi nokuqinile kumapulatifomu ezinhlobonhlobo zamarobhothi. Saphinda sasho ngaleso sikhathi ukuthi inamaphrojekthi ahambisana nawo Ezinye ezibalulekile futhi ezaziwa kakhulu njengeGazebo, I-Moveit, I-OpenCV, I-Point Cloud Library (PCL) y Vula amaRobhothi. Ngakho-ke, kulokhu, sizonikezela lokhu okuthunyelwe ukuze sifunde kabanzi mayelana nephrojekthi nesofthiwe ebizwa ngokuthi i-Gazebo.

Futhi uma ungakaze uzwe ngakho, kufanelekile ukugqamisa kusukela ekuqaleni futhi kafushane, ukuthi akuyona into engaphezu kweyodwa. Isofthiwe enikeza isifanisi somthombo ovulekile wamarobhothi ovelele ngokunikeza indlela yokusungula sokulingisa usebenzisa a Isethi ephelele yamalabhulali okuthuthukisa nezinsizakalo zamafu ezisiza ukulingisaNgakho-ke, uma amarobhothi ezimboni, ezesayensi, noma ezemfundo kuyinto yakho, kufanele nakanjani uhlole, uzame, futhi usebenzise leli thuba lephrojekthi yomthombo ovulekile ehlakaniphile nefinyelelekayo.

I-ROS: Uhlelo Lokusebenza Lwamarobhothi - Uhlaka lomthombo ovulekile

Kodwa, ngaphambi kokuthi siqale ukuxoxa ngakho konke okubalulekile mayelana nalesi sifanisi se-robotics esiwusizo esitholakala ku-Linux esibizwa I-Gazebo», sincoma ukuthi uhlole futhi ufunde yethu okuthunyelwe kwangaphambilini nakamuva okuhlobene Ngesoftware yangaphambilini ebizwa nge-ROS, ekugcineni kwayo:

I-athikili ehlobene:

I-ROS: Uhlelo Lokusebenza Lwamarobhothi - Uhlaka lomthombo ovulekile

I-Gazebo: Isilingisi se-robotics esiwusizo somthombo ovulekile se-Linux

Iyini i-Gazebo?

Ngokusho kwe- Iwebhusayithi esemthethweniLokhu kuthuthukiswa kwesoftware okubizwa ngeGazebo kuchazwa kafushane kanje:

Gazebo (ngaphambilini eyayaziwa ngokuthi Ignition) iyisifanisi serobhothi esinomthombo ovulekile esinakekelwa i-Open Robotics. Inikeza abasebenzisi ukufinyelela ku-high-fidelity physics, ukunikezela, namamodeli ezinzwa. Iphinde inikeze abasebenzisi nabathuthukisi ngezindawo eziningi zokufinyelela esilingiseni, okuhlanganisa isixhumi esibonakalayo somsebenzisi, ama-plugin, ukudlula komlayezo okungavumelaniyo, kanye nezinsizakalo. Okokugcina, inikeza indlela emisha yokulingisa ngesethi ephelele yamathuluzi omtapo wolwazi wokuthuthukisa kanye nezinsizakalo zamafu ezisiza ukulingisa. Lokhu kunika amandla, isibonelo, ukuphindaphinda okusheshayo kwemiklamo emisha yemvelo ezindaweni ezingokoqobo ezinokugeleza kwezinzwa ezithembekile. Lokhu kusiza ukwenziwa kwamasu okulawula ngaphansi kwezimo eziphephile kanye nokulingisa ekuhlolweni kokuhlanganiswa okuqhubekayo.

Ngaphezu kwalokho, kubalulekile ukugqamisa lokho, namuhla futhi ngokusho kwayo ikhosombe elisemthethweni le-GitHub:

Kunezinhlobo ezimbili eziyinhloko ze-Gazebo: I-Gazebo Classic kanye ne-Gazebo (ngaphambilini eyayiyi-Ignition). Izinguqulo ze-Gazebo Classic zisebenzisa izinombolo ukuze zilandelele izinguqulo, kuyilapho i-Gazebo isebenzisa amagama enguqulo anamagama (isb., Inqaba, Ingadi, njll.). Ngenxa yalokho, u-rSincoma ukuthi abasebenzisi abasha be-Gazebo baqale ngenguqulo yakamuva, I-Gazebo Jetty, yangoSepthemba 30, 2025. Kusukela, i inguqulo yakamuva ye-Gazebo Classic enguqulweni 11, yangoJanuwari 30, 2020.

Futhi phakathi kwakhe izici ezivelele Ezinye zazo zigqamile:

1. Ukulingiswa okusabalalisiweI-Gazebo isekela ukusetshenziswa kwamaseva amaningi ukuthuthukisa ukusebenza. Ukusebenzisa ikhompuyutha kusatshalaliswa ngokufanele kuwo wonke amaseva amaningi.
2. Ukulayishwa kwempahla enamandla: Isebenzisa ulwazi lwendawo, i-Gazebo ingalayisha ngokuzenzakalelayo futhi yehlise izimpahla zokulingisa ukuze ithuthukise ngokumangalisayo ukusebenza.
3. Ukusebenza okufinyelelekayo: Isiza ukulawula usayizi wesinyathelo sesikhathi sokulingisa ukuze sisebenze ngesikhathi sangempela, ngokushesha noma ngisho kancane kunesikhathi sangempela.
4. Ukusekelwa kwe-Multiplatform: Iyatholakala ukuthi isetshenziswe ku-Linux, macOS kanye neWindows.
5. Cloud Integration: Ikuvumela ukuthi ubuke, udawunilode, futhi ulayishe amamodeli okulingisa nomhlaba kuseva yakho ephethwe ngamafu, etholakala ku-URL: app.gazebosim.org
6. Ukuhlanganiswa ne-ROSI-Gazebo itholakala ku-ROS Melodic. Leli bhuloho liguqula ngokuzenzakalelayo phakathi kwemilayezo ye-Gazebo Protobuf nemilayezo ye-ROS.
7. Uhlu olubanzi lwezinzwa zomsindo namamodeli: Amakhamera we-Monocular, i-LIDAR, i-IMU, izinzwa zokuxhumana, ama-altimeters nokunye okuningi kuyatholakala futhi endleleni.
8. Ihluzo ezithuthukisiwe ze-3D: I-Ogre 2.1 iyatholakala ku-Gazebo Rendering, inikeza ukufinyelela kumasu akamuva okunikeza, amamephu ethunzi athuthukisiwe, nokuningi.
9. I-Physics Eqondile: I-DART iyinjini yefiziksi ezenzakalelayo ku-Gazebo Physics, eyinikeza izinga lokunemba elidlula izinjini eziningi zegeyimu ezithuthuke kakhulu.

I-athikili ehlobene:

I-Open 3D Engine 23.10 ifika inezici ezintsha zokuhlola, ukuthuthukiswa nokunye okwengeziwe

Ukufakwa

Ukulandela i- Imiyalo esemthethweni nezincomo zokufakwa kusistimu yokusebenza ye-Linux (Ubuntu), nokusebenzisa inguqulo yayo yakamuva ezinzile etholakalayo, lezi izinyathelo zokufakwa kwayo kusetshenziswa ngokuqondile izinqolobane zayo ezihambisana no-Ubuntu:

Izinyathelo zokuqala ezinconyiwe

sudo apt-get update
sudo apt-get install lsb-release gnupg

Ukufaka i-Gazebo Jetty Software

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-prerelease $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-prerelease.list > /dev/null
sudo apt-get update
sudo apt-get install gz-jetty

Ngemuva kwalokhu, yonke imitapo yolwazi kufanele ilungele ukusetshenziswa futhi uhlelo lwe-gz-sim lulungele ukusebenza.

Ithimba le-Gazebo liyajabula ukumemezela ukukhululwa okukhulu kweshumi kwe-Gazebo, ebizwa nge-codenamed Jetty. Lokhu ukukhishwa Kosekelo Lwesikhathi Eside (LTS), okusho ukuthi kuzoba nempilo enwetshiwe, ikakhulukazi kuze kube uSepthemba 2030. Sincoma ukuthi abasebenzisi be-Gazebo bathuthukele ku-Jetty njengenguqulo yabo yansuku zonke. Isimemezelo sokukhishwa kwenguqulo ye-Jetty

Futhi ekugcineni, kufanelekile ukusho ukuthi kungaba futhi efakwe kusetshenziswa iphakheji ye-Snap futhi ngokuqondile efakwe ngokuhlanganisa amafayela ayo omthombo. Ngaphezu kwalokho, kukhona inguqulo yewebhu engekho emthethweni ebizwa ngokuthi Iwebhu ye-Gazebo okungase futhi kube usizo kwabaningi, futhi yakhelwe kusetshenziswa uhlaka lwe-Angular (Inguqulo 10), futhi idinga inodi 14.x kanye ne-npm 6.x ukuze isebenze.

I-athikili ehlobene:

I-RoboMind: Isofthiwe ewusizo yokufunda nokufundisa ukuhlela namarobhothi

Isifingqo

Ngamafuphi, siyethemba lokhu Isifanisi esiwusizo samarobhothi esitholakala ku-Linux esibizwa nge-"Gazebo" esikwethule noma esikukhumbuze ngakho namuhla, kungase kube usizo kakhulu futhi kube wusizo kwabaningi, ekuphileni kwabo kobuchwepheshe nokusebenza, kanye nasekusebenziseni kwabo okungokwesayensi ngisho nemfundo. Kodwa ngaphezu kwakho konke, kule ndlela yokugcina, ngoba, ngokuqinisekile ngoba imahhala, kulula ukuyifaka nokusebenzisa, Kungaba usizo kakhulu njengethuluzi lokufundisa ukufundisa kokubili abadala kanye nezingane mayelana namarobhothi. Ngokuhambisana nokukhuthaza ukusetshenziswa okusabalele kwezinhlelo zokusebenza zomthombo ovulekile namahhala njengo-Ubuntu, uma ungathanda ukuphakamisa noma ukuncoma noma iyiphi enye isofthiwe efanayo noma iphakheji, sicela ushiye amazwana ngezansi ukuze sikucabangele ukushicilelwa esikhathini esizayo.