# Gazebo

> Gazebo 机器人仿真 — SDF 模型、物理引擎、传感器噪声配置，支持 ROS2 Gazebo 插件和天下无敌的 Gazebo Garden

- Skill: `miuav/gazebo` (Agent Skill)
- Install (CLI): `npx skillmds@latest add miuav/gazebo`
- Raw SKILL.md: https://api.skillmd.com/api/skills/miuav/gazebo/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: miuav (https://skillmd.com/u/miuav)
- Updated: 2026-09-17
- Page: https://skillmd.com/skills/miuav/gazebo

---


# gazebo — Gazebo 仿真 SKILL

## 引用技能

- `agents/skills/simulation/physics-simulation/`
- `agents/skills/ros2-debug/`

## ROS2 + Gazebo

Gazebo 有两个主要版本：

| 版本 | ROS2 集成 | 包名 |
|------|----------|------|
| Gazebo Classic | `gazebo_ros` | `ros-humble-gazebo-ros-pkgs` |
| Gazebo (Edifice) | `gz-sim` | `ros-humble-ros-gz` |

## SDF 关键配置

```xml
<sdf version="1.9">
  <world name="default">
    <physics type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    
    <scene>
      <ambient>0.5 0.5 0.5 1</ambient>
    </scene>
  </world>
</sdf>
```

## 传感器噪声模型

```xml
<!-- 激光雷达噪声 -->
<noise type="gaussian">
  <mean>0.0</mean>
  <stddev>0.01</stddev>
</noise>

<!-- 相机噪声 -->
<noise type="gaussian">
  <mean>0.0</mean>
  <stddev>0.001</stddev>
</noise>
```

## 禁止

- ❌ `real_time_factor` < 0.9（仿真太慢）
- ❌ 不设置 contact 摩擦系数（机器人打滑）
- ❌ Gazebo 和真实环境混用（参数迁移要重新调）