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+# Gazebo常用插件
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+
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+## 1.雷达
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+
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+详细介绍及文章： [9.5给机器人添加激光传感器](..\..\chapt9\9.5给机器人添加激光传感器.md)
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+
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+```xml
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+ <gazebo reference="laser_link">
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+ <sensor name="laser_sensor" type="ray">
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+ <always_on>true</always_on>
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+ <visualize>true</visualize>
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+ <update_rate>5</update_rate>
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+ <pose>0 0 0.075 0 0 0</pose>
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+ <ray>
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+ <scan>
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+ <horizontal>
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+ <samples>360</samples>
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+ <resolution>1.000000</resolution>
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+ <min_angle>0.000000</min_angle>
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+ <max_angle>6.280000</max_angle>
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+ </horizontal>
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+ </scan>
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+ <range>
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+ <min>0.120000</min>
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+ <max>3.5</max>
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+ <resolution>0.015000</resolution>
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+ </range>
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+ <noise>
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+ <type>gaussian</type>
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+ <mean>0.0</mean>
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+ <stddev>0.01</stddev>
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+ </noise>
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+ </ray>
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+
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+ <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
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+ <ros>
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+ <remapping>~/out:=scan</remapping>
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+ </ros>
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+ <output_type>sensor_msgs/LaserScan</output_type>
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+ <frame_name>laser_link</frame_name>
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+ </plugin>
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+ </sensor>
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+ </gazebo>
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+```
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+
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+
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+
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+## 2.IMU
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+
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+详细介绍及文章： [9.4为FishBot添加IMU传感器.md](..\..\chapt9\9.4为FishBot添加IMU传感器.md)
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+
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+```xml
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+ <gazebo reference="imu_link">
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+ <sensor name="imu_sensor" type="imu">
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+ <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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+ <ros>
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+ <namespace>/</namespace>
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+ <remapping>~/out:=imu</remapping>
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+ </ros>
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+ <initial_orientation_as_reference>false</initial_orientation_as_reference>
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+ </plugin>
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+ <always_on>true</always_on>
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+ <update_rate>100</update_rate>
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+ <visualize>true</visualize>
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+ <imu>
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+ <angular_velocity>
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+ <x>
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+ <noise type="gaussian">
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+ <mean>0.0</mean>
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+ <stddev>2e-4</stddev>
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+ <bias_mean>0.0000075</bias_mean>
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+ <bias_stddev>0.0000008</bias_stddev>
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+ </noise>
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+ </x>
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+ <y>
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+ <noise type="gaussian">
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+ <mean>0.0</mean>
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+ <stddev>2e-4</stddev>
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+ <bias_mean>0.0000075</bias_mean>
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+ <bias_stddev>0.0000008</bias_stddev>
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+ </noise>
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+ </y>
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+ <z>
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+ <noise type="gaussian">
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+ <mean>0.0</mean>
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+ <stddev>2e-4</stddev>
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+ <bias_mean>0.0000075</bias_mean>
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+ <bias_stddev>0.0000008</bias_stddev>
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+ </noise>
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+ </z>
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+ </angular_velocity>
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+ <linear_acceleration>
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+ <x>
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+ <noise type="gaussian">
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+ <mean>0.0</mean>
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+ <stddev>1.7e-2</stddev>
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+ <bias_mean>0.1</bias_mean>
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+ <bias_stddev>0.001</bias_stddev>
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+ </noise>
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+ </x>
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+ <y>
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+ <noise type="gaussian">
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+ <mean>0.0</mean>
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+ <stddev>1.7e-2</stddev>
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+ <bias_mean>0.1</bias_mean>
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+ <bias_stddev>0.001</bias_stddev>
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+ </noise>
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+ </y>
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+ <z>
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+ <noise type="gaussian">
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+ <mean>0.0</mean>
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+ <stddev>1.7e-2</stddev>
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+ <bias_mean>0.1</bias_mean>
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+ <bias_stddev>0.001</bias_stddev>
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+ </noise>
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+ </z>
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+ </linear_acceleration>
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+ </imu>
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+ </sensor>
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+ </gazebo>
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+```
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+## 3.超声波
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+
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+详细介绍及文章： [9.6拓展-为Fishbot添加超声波传感器.md](..\..\chapt9\9.6拓展-为Fishbot添加超声波传感器.md)
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+
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+
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+```xml
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+ <gazebo reference="ultrasonic_sensor_link">
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+ <sensor type="ray" name="ultrasonic_sensor">
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+ <pose>0 0 0 0 0 0</pose>
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+ <!-- 是否可视化，gazebo里能不能看到 -->
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+ <visualize>true</visualize>
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+ <!-- 扫描速率，也就是数据更新速率 -->
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+ <update_rate>5</update_rate>
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+ <ray>
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+ <scan>
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+ <!-- 水平扫描的点数 -->
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+ <horizontal>
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+ <samples>5</samples>
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+ <resolution>1</resolution>
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+ <min_angle>-0.12</min_angle>
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+ <max_angle>0.12</max_angle>
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+ </horizontal>
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+ <!-- 垂直方向扫描的点数 -->
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+ <vertical>
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+ <samples>5</samples>
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+ <resolution>1</resolution>
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+ <min_angle>-0.01</min_angle>
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+ <max_angle>0.01</max_angle>
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+ </vertical>
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+ </scan>
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+ <!-- 超声波检测的范围和数据分辨率单位m -->
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+ <range>
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+ <min>0.02</min>
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+ <max>4</max>
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+ <resolution>0.01</resolution>
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+ </range>
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+ <!-- 数据噪声采用高斯噪声 -->
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+ <noise>
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+ <type>gaussian</type>
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+ <mean>0.0</mean>
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+ <stddev>0.01</stddev>
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+ </noise>
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+ </ray>
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+ <plugin name="ultrasonic_sensor_controller" filename="libgazebo_ros_ray_sensor.so">
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+ <ros>
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+ <!-- 重映射输出的话题名称 -->
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+ <remapping>~/out:=ultrasonic_sensor_1</remapping>
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+ </ros>
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+ <!-- 输出消息的类型，注意与雷达区分，这里是sensor_msgs/Range -->
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+ <output_type>sensor_msgs/Range</output_type>
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+ <!-- 射线类型，这里要写ultrasound，注意和雷达区分 -->
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+ <radiation_type>ultrasound</radiation_type>
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+ <!-- frame名称，填写link名称即可 -->
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+ <frame_name>ultrasonic_sensor_link</frame_name>
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+ </plugin>
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+ </sensor>
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+ </gazebo>
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+```
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+
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+## 4.两轮差速
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+
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+详细介绍及文章： [9.3为FishBot配置两轮差速控制插件.md](..\..\chapt9\9.3为FishBot配置两轮差速控制插件.md)
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+
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+```
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+ <gazebo>
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+ <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
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+ <ros>
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+ <namespace>/</namespace>
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+ <remapping>cmd_vel:=cmd_vel</remapping>
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+ <remapping>odom:=odom</remapping>
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+ </ros>
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+ <update_rate>30</update_rate>
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+ <!-- wheels -->
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+ <left_joint>left_wheel_joint</left_joint>
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+ <right_joint>right_wheel_joint</right_joint>
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+ <!-- kinematics -->
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+ <wheel_separation>0.2</wheel_separation>
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+ <wheel_diameter>0.065</wheel_diameter>
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+ <!-- limits -->
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+ <max_wheel_torque>20</max_wheel_torque>
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+ <max_wheel_acceleration>1.0</max_wheel_acceleration>
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+ <!-- output -->
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+ <publish_odom>true</publish_odom>
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+ <publish_odom_tf>true</publish_odom_tf>
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+ <publish_wheel_tf>true</publish_wheel_tf>
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+ <odometry_frame>odom</odometry_frame>
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+ <robot_base_frame>base_footprint</robot_base_frame>
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+ </plugin>
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+```
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+
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+## 5.JointStatePublisher
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+
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鱼香ROS