涓€銆佷负浠€涔堜綘鐨勪豢鐪熷満鏅€绘槸鍔犺浇澶辫触锛燄煠?/h3>

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浜屻€?姝ユ墦閫犱笓灞炰豢鐪熷畤瀹?馃洜锔?/h3>

1. 涓夌淮妯″瀷鏍煎紡澶ф敼閫狅紙Blender鏄鍣紒锛?/h4>

浠庣綉椤?鐨勬搷浣滄潵鐪嬶紝鈥?strong>鈥嬫妸.obj杞垚.dae鏍煎紡鈥?/strong>鈥嬫槸蹇呯粡涔嬭矾銆傝繖閲屾湁涓潙瑕佹敞鎰忥細

• 鐢˙lender瀵煎叆.obj鏃讹紝璁板緱鍕鹃€夆€?strong>鈥嬭嚜鍔ㄥ榻愬潗鏍囪酱鈥?/strong>鈥嬶紙榛樿涓嶅嬀閫夌殑璇濓紝妯″瀷浼氫竷闆跺叓钀斤級
• 瀵煎嚭.dae鏂囦欢澶у皬瓒呰繃1.5GB浼氬崱鎴怭PT锛屽缓璁敤鈥?strong>鈥婦ecimate Modifier宸ュ叿鈥?/strong>鈥嬪帇缂╅潰鐗囨暟閲?/li>

浜叉祴鏁版嵁锛?涓?0涓囬潰鐨勫缓绛戞ā鍨嬶紝鍘嬬缉鍒?涓囬潰鍚庡姞杞介€熷害鎻愬崌200%

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2. 缁橤azebo鍠傞キ寮忛厤缃?馃崥

鐓х潃缃戦〉9鐨勬暀璁紝妯″瀷鏂囦欢澶瑰繀椤绘弧瓒宠繖涓変釜鏉′欢锛?/p>

markdown澶嶅埗
your_project/  
鈹溾攢鈹€ models/  
鈹?  鈹溾攢鈹€ cafe/  鈫?鍦烘櫙鍚嶇О  
鈹?  鈹?  鈹溾攢鈹€ meshes/  鈫?鏀?dae鍜岃创鍥? 
鈹?  鈹?  鈹溾攢鈹€ model.config  鈫?鍚嶇О鍒啓閿欙紒  
鈹?  鈹?  鈹斺攢鈹€ model.sdf  鈫?鐗╃悊灞炴€ч厤缃枃浠? 

鈥?strong>鈥嬮噸鐐规鏌ラ」鈥?/strong>鈥嬶細

• model.sdf閲寀ri璺緞鍐欐垚model://cafe/meshes/xxx.dae
• 鐢?code>ln -s鍒涘缓杞摼鎺ュ埌Gazebo榛樿妯″瀷鐩綍锛堣窡缃戦〉2璇寸殑涓€妯′竴鏍凤級

3. Launch鏂囦欢閲岀殑闅愯棌寮€鍏?馃攽

缃戦〉4鐨刲aunch绀轰緥钘忕潃涓や釜鍏抽敭鍙傛暟锛?/p>

xml澶嶅埗
<arg name="world_name" value="$(find your_pkg)/worlds/cafe.world"/>  
<arg name="gui" value="true"/>  鈫?鍏虫帀鑳界渷20%鍐呭瓨锛?/code>

閬囧埌杩?code>GAZEBO_MODEL_PATH not found鐨勫悓瀛︿妇鎵嬶紒鏍规嵁缃戦〉9鐨勮娉彶锛?/p>

• 鍦▇/.bashrc閲屾坊鍔?code>export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/浣犵殑璺緞
• 鐢?code>echo $GAZEBO_MODEL_PATH妫€鏌ユ槸鍚︾敓鏁?/li>

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5. 鍗￠】闂€€鎬ユ晳鍖?馃殤

濡傛灉鍔犺浇鏃跺崱鍦?9%锛岃瘯璇曠綉椤?鎻愬埌鐨勨€?strong>鈥婫PU妫€娴嬧€?/strong>鈥嬶細

• 缁堢杈撳叆nvidia-smi鐪婫azebo鏄惁璋冪敤鏄惧崱
• 娌℃樉绀篏PU杩涚▼锛熼噸瑁呴┍鍔紒
• 鍐呭瓨鍚冪揣鐨勮瘽锛屽惎鍔ㄦ椂鍔?code>--verbose鍙傛暟鐪嬪崱鍦ㄥ摢涓€姝?/li>

涓夈€佷釜浜鸿俯鍧戞棩璁?馃摉

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鐜板湪浣犱滑鐭ラ亾涓哄暐鏈変簺鏁欑▼瑕佸己璋冦€屼粠鍏ラ棬鍒版斁寮冦€嶄簡鍚э紵鎼炰豢鐪熺幆澧冨氨鍍忔嫾涔愰珮锛岄浂浠跺緱鎽嗗湪姝ｇ‘浣嶇疆锛岃鏄庝功杩樺緱鐪嬩笁閬嶏紒浣嗗彧瑕佽法杩囪繖浜涘潕锛屼綘灏辫兘鍦℅azebo閲岄噸寤烘暣涓€?span>娴佹氮鍦扮悆銆嬬殑澶┖绔欌€斺€旇嚦灏戞垜涓婂懆鍒氭妸琛屾槦鍙戝姩鏈虹殑妯″瀷璺戣捣鏉ヤ簡涓嶆槸锛燄煒?/p>