> For the complete documentation index, see [llms.txt](https://wearablerobot.gitbook.io/workspace/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wearablerobot.gitbook.io/workspace/tips/gazebo.md).

# gazebo 사용팁

gazebo 토픽 목록

 `gz topic -l`

gazebo 특정 토픽 보기 

`gz topic -v /gazebo/default/robot_name/Pelvis/wrench`

`플러그인을 만들어서 토픽 구독하기` 

[`https://classic.gazebosim.org/tutorials?tut=topics_subscribed`](https://classic.gazebosim.org/tutorials?tut=topics_subscribed)

```

#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo_client.hh>

#include <iostream>

/////////////////////////////////////////////////
// Function is called everytime a message is received.
void cb(ConstWorldStatisticsPtr &_msg)
{
  // Dump the message contents to stdout.
  std::cout << _msg->DebugString();
}

/////////////////////////////////////////////////
int main(int _argc, char **_argv)
{
  // Load gazebo
  gazebo::client::setup(_argc, _argv);

  // Create our node for communication
  gazebo::transport::NodePtr node(new gazebo::transport::Node());
  node->Init();

  // Listen to Gazebo world_stats topic
  gazebo::transport::SubscriberPtr sub = node->Subscribe("~/world_stats", cb);

  // Busy wait loop...replace with your own code as needed.
  while (true)
    gazebo::common::Time::MSleep(10);

  // Make sure to shut everything down.
  gazebo::client::shutdown();
}

```

gazebo 모델의 정보 보기 (human 모델의 정보보기)

```
gz model -m human -i
name: "human"
id: 10
is_static: false
pose {
  position {
    x: -5.8389050150431387e-08
    y: -6.9705949234943887e-08
    z: 1.9416723040510675e-07
  }
  orientation {
    x: 6.7173406996033751e-08
    y: 1.2933412466903891e-07
    z: 1.0401851296970577e-07
    w: 0.99999999999998412
  }
}
joint {
  name: "human::human_fixed_joint"
  id: 142
  type: FIXED
  parent: "world"
  parent_id: 0
  child: "human::Pelvis"
  child_id: 11
...
```

모델의 joint와 link으 가속도, 속도, 위치 값을 볼수 있음&#x20;

![](https://114453328-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LmOTWbz2dgMNQsbqUOW%2Fuploads%2FSvqlYsROpWvsp07IBv3A%2Fimage.png?alt=media\&token=f81a9db6-e1eb-4d76-9112-985ef55727d6)

실시간 그래프, csv, pdf 출력

<figure><img src="https://114453328-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LmOTWbz2dgMNQsbqUOW%2Fuploads%2FLnV1Ih1UjSfB3fbGIkWL%2Fgazebo_plot.gif?alt=media&amp;token=a5e22813-dd53-4b86-80fc-ffa9465d1cba" alt=""><figcaption></figcaption></figure>

csv 출력 예시

```
sim_time, human/RightForeArm?world_angular_acceleration/x
732.261, -0.998975
732.262, 5.23197
732.263, 48.7125
732.264, -40.3591
732.265, -0.974806
732.266, -7.49022
732.267, 47.7811
```

오른팔 팔꿈치 joint

![](https://114453328-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LmOTWbz2dgMNQsbqUOW%2Fuploads%2FFSUpsomifNTYHGdvzFHo%2Fimage.png?alt=media\&token=87459323-c33a-41e8-9856-3aca82960b01)

오른팔 팔꿈치 아래팔  link

![](https://114453328-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LmOTWbz2dgMNQsbqUOW%2Fuploads%2FbnwtssLMQqlvmEKk85wq%2Fimage.png?alt=media\&token=b3649a29-9385-4c85-aebf-cd2d583c61e6)

Gazebo API를 이용하여 모델의 link로 부터 얻을 수 있는 정보

&#x20;\- 각가속도, 각속도, 힘, 가속도, 속도, 위치, 토크&#x20;

{% embed url="<http://osrf-distributions.s3.amazonaws.com/gazebo/api/11.0.0/classgazebo_1_1physics_1_1Link.html>" %}

모델의 Joint로 부터 얻을 수 있는 정보

&#x20;\- 각가속도, 각속도, 위치

{% embed url="<http://osrf-distributions.s3.amazonaws.com/gazebo/api/11.0.0/classgazebo_1_1physics_1_1Joint.html>" %}

ROS를 이용하여 모델의 joint 정보 얻기&#x20;

```
$ ros2 topic echo /joint_states
header:
  stamp:
    sec: 1673503163
    nanosec: 264233953
  frame_id: ''
name:
- arm_joint
position:
- -1.500349911055852
velocity:
- -0.3499110571993693
effort:
- .nan
---
```

{% embed url="<https://classic.gazebosim.org/gzweb>" %}