浅谈机器人控制与仿真设计----RDS和ROS
机器人控制、仿真或实验，主要由三个部分组成，机器人、环境和算法。
当然各部分又包含很多子部分和功能，这里主要以仿真为主，为了使得仿真结果能够直接应用到实际机器人上，这里分别以RDS和ROS对比介绍。http://download.csdn.net/detail/zhangrelay/9629847
1 机器人
机器人的控制算法主要基于运动学或动力学设计，使机器人在环境中以期望速度或轨迹运动，当然要避障，这与环境相关，放在第二部分。机器人装备传感器感知环境，由算法做出决策，发送到运动执行机构，在加入学习能力之后，可以依据环境做出有利于自身的动态调整，以便于更好的适应环境和完成任务。
RDS：
以P3DX为例：
配置代码如下：
<?xml version="1.0"?>
<Manifest xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html">
<CreateServiceList>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Contract>http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</Contract>
<Service>P3DX.xml</Service>
<PartnerList />
<Name>StateService</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Service>http://localhost/P3DXMotorBase</Service>
<PartnerList />
<Name xmlns:q1="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q1:Entity</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Service>http://localhost/P3DXLaserRangeFinder</Service>
<PartnerList />
<Name xmlns:q2="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q2:Entity</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Service>http://localhost/P3DXBumpers</Service>
<PartnerList />
<Name xmlns:q3="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q3:Entity</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/2006/09/simulatedwebcam.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Service>http://localhost/robocam</Service>
<PartnerList />
<Name xmlns:q4="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q4:Entity</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2011/01/simulateddepthcam.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Service>http://localhost/KinectCamera</Service>
<PartnerList />
<Name xmlns:q5="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q5:Entity</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
<ServiceRecordType>
<Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/2011/01/simulatedwebcamsensor.html</Contract>
<PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">
<Partner>
<Service>http://localhost/SimulatedWebcam</Service>
<PartnerList />
<Name xmlns:q6="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q6:Entity</Name>
</Partner>
</PartnerList>
</ServiceRecordType>
</CreateServiceList>
</Manifest>
分别配置了差动底盘、激光传感器、碰撞传感器和深度视觉摄像头等。
完整版本配置如下：
<Pioneer3DX xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>P3DXMotorBase</sim:Name>
<sim:Assets>
<sim:Mesh>Pioneer3dx.bos</sim:Mesh>
<sim:Effect>default</sim:Effect>
</sim:Assets>
<sim:Pose>
<physm:Position>
<physm:X>2</physm:X>
<physm:Y>0.077099</physm:Y>
<physm:Z>2</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>2.0103019E-07</physm:Y>
<physm:Z>-7.260728E-10</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>-3.3154862E-07</physm:X>
<physm:Y>1.32271339E-07</physm:Y>
<physm:Z>-3.06670131E-07</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>-4.037088E-06</physm:X>
<physm:Y>-5.273405E-06</physm:Y>
<physm:Z>9.124161E-06</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>11</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>4</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</ServiceContract>
<EmbeddedResourceAssemblies />
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<IsEnabled>true</IsEnabled>
<MotorTorqueScaling>20</MotorTorqueScaling>
<RightWheel>
<sim:State>
<sim:Name>P3DXMotorBase:Right wheel</sim:Name>
<sim:Assets>
<sim:Mesh>PioneerWheel.bos</sim:Mesh>
</sim:Assets>
<sim:Pose>
<physm:Position>
<physm:X>2</physm:X>
<physm:Y>0.077099</physm:Y>
<physm:Z>2</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>2.0103019E-07</physm:Y>
<physm:Z>-7.260728E-10</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>0</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<EmbeddedResourceAssemblies />
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>180</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<WheelShape>
<phys:WheelState>
<phys:Name>P3DXMotorBase/front right wheel</phys:Name>
<phys:ShapeId>Wheel</phys:ShapeId>
<phys:Dimensions>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:Dimensions>
<phys:Radius>0.08</phys:Radius>
<phys:Material>
<phys:Name>default wheel material</phys:Name>
<phys:Restitution>0</phys:Restitution>
<phys:DynamicFriction>0</phys:DynamicFriction>
<phys:StaticFriction>0</phys:StaticFriction>
<phys:MaterialIndex>497</phys:MaterialIndex>
</phys:Material>
<phys:MassDensity>
<phys:Mass>0.1</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>0.1565</physm:X>
<physm:Y>0.08</physm:Y>
<physm:Z>-0.05</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0.842458248</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0.5387616</physm:W>
</physm:Orientation>
</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.5</physm:X>
<physm:Y>0.5</physm:Y>
<physm:Z>0.5</physm:Z>
<physm:W>1</physm:W>
</phys:DiffuseColor>
<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
<phys:InnerRadius>0.055999998</phys:InnerRadius>
<phys:SuspensionTravel>0</phys:SuspensionTravel>
<phys:Flags>OverrideAxleSpeed</phys:Flags>
<phys:AxleSpeed>0</phys:AxleSpeed>
<phys:BrakeTorque>0</phys:BrakeTorque>
</phys:WheelState>
</WheelShape>
<Rotations>-8.31889248</Rotations>
</RightWheel>
<LeftWheel>
<sim:State>
<sim:Name>P3DXMotorBase:Left wheel</sim:Name>
<sim:Assets>
<sim:Mesh>PioneerWheel.bos</sim:Mesh>
</sim:Assets>
<sim:Pose>
<physm:Position>
<physm:X>2</physm:X>
<physm:Y>0.077099</physm:Y>
<physm:Z>2</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>2.0103019E-07</physm:Y>
<physm:Z>-7.260728E-10</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>0</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<EmbeddedResourceAssemblies />
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<WheelShape>
<phys:WheelState>
<phys:Name>P3DXMotorBase/front left wheel</phys:Name>
<phys:ShapeId>Wheel</phys:ShapeId>
<phys:Dimensions>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:Dimensions>
<phys:Radius>0.08</phys:Radius>
<phys:Material>
<phys:Name>default wheel material</phys:Name>
<phys:Restitution>0</phys:Restitution>
<phys:DynamicFriction>0</phys:DynamicFriction>
<phys:StaticFriction>0</phys:StaticFriction>
<phys:MaterialIndex>496</phys:MaterialIndex>
</phys:Material>
<phys:MassDensity>
<phys:Mass>0.1</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>-0.1565</physm:X>
<physm:Y>0.08</physm:Y>
<physm:Z>-0.05</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0.999986649</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0.00517276628</physm:W>
</physm:Orientation>
</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.5</physm:X>
<physm:Y>0.5</physm:Y>
<physm:Z>0.5</physm:Z>
<physm:W>1</physm:W>
</phys:DiffuseColor>
<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
<phys:InnerRadius>0.055999998</phys:InnerRadius>
<phys:SuspensionTravel>0</phys:SuspensionTravel>
<phys:Flags>OverrideAxleSpeed</phys:Flags>
<phys:AxleSpeed>0</phys:AxleSpeed>
<phys:BrakeTorque>0</phys:BrakeTorque>
</phys:WheelState>
</WheelShape>
<Rotations>7.50164652</Rotations>
</LeftWheel>
<ChassisShape>
<phys:BoxState>
<phys:Name>P3DXMotorBase/Chassis</phys:Name>
<phys:ShapeId>Box</phys:ShapeId>
<phys:Dimensions>
<physm:X>0.393</physm:X>
<physm:Y>0.18</physm:Y>
<physm:Z>0.4</physm:Z>
</phys:Dimensions>
<phys:Radius>0</phys:Radius>
<phys:Material>
<phys:Name>high friction</phys:Name>
<phys:Restitution>0</phys:Restitution>
<phys:DynamicFriction>1</phys:DynamicFriction>
<phys:StaticFriction>20</phys:StaticFriction>
<phys:MaterialIndex>495</phys:MaterialIndex>
</phys:Material>
<phys:MassDensity>
<phys:Mass>9</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0.14</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>-1</physm:W>
</physm:Orientation>
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<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">None</Flags>
<ChildCount xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0</ChildCount>
<ReferenceFrame xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">Local</ReferenceFrame>
<ServiceContract xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">http://schemas.microsoft.com/robotics/simulation/services/2011/01/simulateddepthcam.html</ServiceContract>
<EmbeddedResourceAssemblies xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html" />
<MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">true</IsRealTimeCamera>
<UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>
<ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>
<CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>
<Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5E-05</Near>
<Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">12</Far>
<ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">640</ViewSizeX>
<ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">480</ViewSizeY>
<ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.780699968</ViewAngle>
<IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>
<LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<X>2</X>
<Y>0.53</Y>
<Z>0.71</Z>
</LookAt>
<Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<X>2</X>
<Y>0.53</Y>
<Z>1.71</Z>
</Location>
<DepthRange>4</DepthRange>
</DepthCameraEntity>
<CameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>SimulatedWebcam</sim:Name>
<sim:Assets />
<sim:Pose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>-0.029</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>8.72664643E-08</physm:X>
<physm:Y>8.72664643E-08</physm:Y>
<physm:Z>8.726645E-08</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>1</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Local</ReferenceFrame>
<ServiceContract>http://schemas.microsoft.com/robotics/2011/01/simulatedwebcamsensor.html</ServiceContract>
<EmbeddedResourceAssemblies />
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<IsRealTimeCamera>true</IsRealTimeCamera>
<UpdateInterval>67</UpdateInterval>
<ShadowDisplay>ShowShadows</ShadowDisplay>
<CameraModel>FirstPerson</CameraModel>
<Near>0.001</Near>
<Far>50</Far>
<ViewSizeX>640</ViewSizeX>
<ViewSizeY>480</ViewSizeY>
<ViewAngle>0.780699968</ViewAngle>
<IsPhysicsVisible>false</IsPhysicsVisible>
<LookAt>
<X>2</X>
<Y>0.53</Y>
<Z>0.97</Z>
</LookAt>
<Location>
<X>2</X>
<Y>0.53</Y>
<Z>1.97</Z>
</Location>
</CameraEntity>
<PursuitCameraEntity xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns="http://schemas.microsoft.com/robotics/entity/2008/04/pursuitcamera.html">
<sim:State>
<sim:Name>PursuitCamera</sim:Name>
<sim:Assets />
<sim:Pose>
<physm:Position>
<physm:X>3.34445143</physm:X>
<physm:Y>2.002601</physm:Y>
<physm:Z>9.239522</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>-0.00700437</physm:X>
<physm:Y>0.9677629</physm:Y>
<physm:Z>0.2503048</physm:Z>
<physm:W>0.02708126</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>1</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
<phys:MassLocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:MassLocalPose>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">None</Flags>
<ChildCount xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0</ChildCount>
<ReferenceFrame xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">Global</ReferenceFrame>
<MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsRealTimeCamera>
<UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>
<ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>
<CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>
<Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.1</Near>
<Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5000</Far>
<ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">800</ViewSizeX>
<ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">600</ViewSizeY>
<ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.7853982</ViewAngle>
<IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>
<LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<X>3.14</X>
<Y>0</Y>
<Z>12.84</Z>
</LookAt>
<Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<X>3.34</X>
<Y>2</Y>
<Z>9.24</Z>
</Location>
<TargetName>P3DXMotorBase</TargetName>
<MinDistance>4</MinDistance>
<MaxDistance>6</MaxDistance>
<Altitude>2</Altitude>
<PreventOcclusion>true</PreventOcclusion>
<OcclusionThreshold>0.5</OcclusionThreshold>
</PursuitCameraEntity>
包含各模型，非常详细和具体的配置。
ROS：
如果用Gazebo进行机器人三维仿真，可以参考：
机器人模型：http://blog.csdn.net/zhangrelay/article/details/52839752
-----------------------------------------------------------------------------
两者其实没有本质区别，逼真的机器人模型可以用blender等三维软件设计然后导入到环境中，这些文件主要用来配置机器人属性，包括位姿等，以及传感器、电机的具体位姿和其他参数等。
2 环境
机器人运动空间中其他对象共同组成的场景，就是机器人的环境。下面以一个简单环境为例：
环境中有天空、光源、大地和障碍物等，也包括重力、摩擦力的配置，当然也可以设计更为逼真的起伏地形环境。
具体配置文件如下：
<?xml version="1.0" encoding="utf-8"?>
<SimulationState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulation.html">
<Gravity>
<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>
<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">-9.81</Y>
<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</Z>
</Gravity>
<RenderMode>Full</RenderMode>
<FramesPerSecond>62.8144646</FramesPerSecond>
<Pause>false</Pause>
<CameraPosition>
<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.66</X>
<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">2.22</Y>
<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">3.6</Z>
</CameraPosition>
<CameraLookAt>
<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.2</X>
<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.96</Y>
<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">2.75</Z>
</CameraLookAt>
<CameraFieldOfView>0.781</CameraFieldOfView>
<CameraNearPlane>0.1</CameraNearPlane>
<CameraFarPlane>5000</CameraFarPlane>
<Lights />
<SerializedEntities>
<LightSourceEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>Sun</sim:Name>
<sim:Assets />
<sim:Pose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>-0.04912025</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0.491202474</physm:Z>
<physm:W>0.8696593</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>0</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>DisableRendering</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<Type>Directional</Type>
<Color>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
<physm:W>1</physm:W>
</Color>
<SpotUmbra>90</SpotUmbra>
<FalloffStart>0</FalloffStart>
<FalloffEnd>30</FalloffEnd>
<CastsShadows>false</CastsShadows>
</LightSourceEntity>
<CameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>MainCamera</sim:Name>
<sim:Assets />
<sim:Pose>
<physm:Position>
<physm:X>2.02951932</physm:X>
<physm:Y>0.5932036</physm:Y>
<physm:Z>0.571604133</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0.115347572</physm:X>
<physm:Y>-0.524591148</physm:Y>
<physm:Z>-0.07199961</physm:Z>
<physm:W>0.840425551</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>1</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<IsRealTimeCamera>false</IsRealTimeCamera>
<UpdateInterval>67</UpdateInterval>
<ShadowDisplay>ShowShadows</ShadowDisplay>
<CameraModel>FirstPerson</CameraModel>
<Near>0.1</Near>
<Far>5000</Far>
<ViewSizeX>1010</ViewSizeX>
<ViewSizeY>566</ViewSizeY>
<ViewAngle>0.781</ViewAngle>
<IsPhysicsVisible>false</IsPhysicsVisible>
<LookAt>
<X>1.16</X>
<Y>0.32</Y>
<Z>0.15</Z>
</LookAt>
<Location>
<X>2.03</X>
<Y>0.59</Y>
<Z>0.57</Z>
</Location>
</CameraEntity>
<Pioneer3DX xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>P3DXMotorBase</sim:Name>
<sim:Assets>
<sim:Mesh>Pioneer3dx.bos</sim:Mesh>
<sim:Effect>default</sim:Effect>
</sim:Assets>
<sim:Pose>
<physm:Position>
<physm:X>1.000001</physm:X>
<physm:Y>-0.001000002</physm:Y>
<physm:Z>0.000236000444</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>-8.578354E-09</physm:X>
<physm:Y>-2.3919597E-06</physm:Y>
<physm:Z>2.3672917E-09</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>-2.208526E-09</physm:X>
<physm:Y>1.24457666E-09</physm:Y>
<physm:Z>-1.82712565E-08</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>1.14104509E-07</physm:X>
<physm:Y>-3.471582E-09</physm:Y>
<physm:Z>2.01171826E-08</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>9.001</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
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</sim:MassDensity>
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<Flags>None</Flags>
<ChildCount>3</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.user.html</ServiceContract>
<MeshScale>
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<physm:Y>1</physm:Y>
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<MeshTranslation>
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</MeshTranslation>
<IsEnabled>false</IsEnabled>
<MotorTorqueScaling>20</MotorTorqueScaling>
<RightWheel>
<sim:State>
<sim:Name>P3DXMotorBase:Right wheel</sim:Name>
<sim:Assets>
<sim:Mesh>PioneerWheel.bos</sim:Mesh>
</sim:Assets>
<sim:Pose>
<physm:Position>
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<physm:Orientation>
<physm:X>-8.578354E-09</physm:X>
<physm:Y>-2.3919597E-06</physm:Y>
<physm:Z>2.3672917E-09</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
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<physm:Z>0</physm:Z>
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<sim:AngularVelocity>
<physm:X>0</physm:X>
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<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
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<ReferenceFrame>Global</ReferenceFrame>
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<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
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<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>180</physm:Y>
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<physm:Z>0</physm:Z>
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<WheelShape>
<phys:WheelState>
<phys:Name>P3DXMotorBase/front right wheel</phys:Name>
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</phys:Dimensions>
<phys:Radius>0.08</phys:Radius>
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<phys:Name>default wheel material</phys:Name>
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<physm:X>0</physm:X>
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<physm:Z>-0</physm:Z>
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</phys:LocalPose>
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</WheelShape>
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</RightWheel>
<LeftWheel>
<sim:State>
<sim:Name>P3DXMotorBase:Left wheel</sim:Name>
<sim:Assets>
<sim:Mesh>PioneerWheel.bos</sim:Mesh>
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<sim:Pose>
<physm:Position>
<physm:X>1.000001</physm:X>
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</physm:Position>
<physm:Orientation>
<physm:X>-8.578354E-09</physm:X>
<physm:Y>-2.3919597E-06</physm:Y>
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<physm:W>1</physm:W>
</physm:Orientation>
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<sim:AngularVelocity>
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<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
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<physm:Orientation>
<physm:X>0</physm:X>
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<ReferenceFrame>Global</ReferenceFrame>
<MeshScale>
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<MeshRotation>
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<MeshTranslation>
<physm:X>0</physm:X>
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<physm:Z>0</physm:Z>
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<WheelShape>
<phys:WheelState>
<phys:Name>P3DXMotorBase/front left wheel</phys:Name>
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</phys:Dimensions>
<phys:Radius>0.08</phys:Radius>
<phys:Material>
<phys:Name>default wheel material</phys:Name>
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<phys:StaticFriction>0</phys:StaticFriction>
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<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
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<physm:Orientation>
<physm:X>0</physm:X>
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<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
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<phys:LocalPose>
<physm:Position>
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</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
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<physm:Y>0.5</physm:Y>
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<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
<phys:InnerRadius>0.055999998</phys:InnerRadius>
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<phys:Flags>OverrideAxleSpeed</phys:Flags>
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</WheelShape>
<Rotations>1.61923659</Rotations>
</LeftWheel>
<ChassisShape>
<phys:BoxState>
<phys:Name>P3DXMotorBase/Chassis</phys:Name>
<phys:ShapeId>Box</phys:ShapeId>
<phys:Dimensions>
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<physm:Y>0.18</physm:Y>
<physm:Z>0.4</physm:Z>
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<phys:Radius>0</phys:Radius>
<phys:Material>
<phys:Name>high friction</phys:Name>
<phys:Restitution>0</phys:Restitution>
<phys:DynamicFriction>1</phys:DynamicFriction>
<phys:StaticFriction>20</phys:StaticFriction>
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<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
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<physm:Orientation>
<physm:X>0</physm:X>
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<physm:W>0</physm:W>
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</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0.14</physm:Y>
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</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>-1</physm:W>
</physm:Orientation>
</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.8</physm:X>
<physm:Y>0.25</physm:Y>
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<physm:W>1</physm:W>
</phys:DiffuseColor>
<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
</phys:BoxState>
</ChassisShape>
<CasterWheelShape>
<phys:SphereState>
<phys:Name>P3DXMotorBase/Caster wheel</phys:Name>
<phys:ShapeId>Sphere</phys:ShapeId>
<phys:Dimensions>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
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</phys:Dimensions>
<phys:Radius>0.025</phys:Radius>
<phys:Material>
<phys:Name>small friction with anisotropy</phys:Name>
<phys:Restitution>0.5</phys:Restitution>
<phys:DynamicFriction>0.5</phys:DynamicFriction>
<phys:StaticFriction>1</phys:StaticFriction>
<phys:MaterialIndex>2</phys:MaterialIndex>
<phys:Advanced>
<phys:AnisotropicStaticFriction>0.4</phys:AnisotropicStaticFriction>
<phys:AnisotropicDynamicFriction>0.3</phys:AnisotropicDynamicFriction>
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<physm:Z>1</physm:Z>
</phys:AnisotropyDirection>
<phys:RestitutionCombineMode>Unspecified</phys:RestitutionCombineMode>
<phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
<phys:Optical />
</phys:Advanced>
</phys:Material>
<phys:MassDensity>
<phys:Mass>0.001</phys:Mass>
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<physm:X>0</physm:X>
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<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
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<physm:Z>0</physm:Z>
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<physm:Orientation>
<physm:X>0</physm:X>
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<phys:LocalPose>
<physm:Position>
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<physm:Orientation>
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<physm:Z>0</physm:Z>
<physm:W>-1</physm:W>
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</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.5</physm:X>
<physm:Y>0.5</physm:Y>
<physm:Z>0.5</physm:Z>
<physm:W>1</physm:W>
</phys:DiffuseColor>
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</phys:SphereState>
</CasterWheelShape>
<RotateDegreesAngleThreshold>0</RotateDegreesAngleThreshold>
<TimeoutSeconds>0</TimeoutSeconds>
</Pioneer3DX>
<LaserRangeFinderEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>P3DXLaserRangeFinder</sim:Name>
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<sim:Effect>LaserRangeFinder.fx</sim:Effect>
</sim:Assets>
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<sim:MassDensity>
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</sim:State>
<Flags>UsesAlphaBlending DisableViewFrustumCulling</Flags>
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<ParentJoint>
<physm:State>
<physm:Name>P3DXLaserRangeFinder's parent joint</physm:Name>
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<physm:ProjectionAngleThreshold>1.401298E-45</physm:ProjectionAngleThreshold>
</physm:Projection>
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</ParentJoint>
<ReferenceFrame>Global</ReferenceFrame>
<ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.user.html</ServiceContract>
<MeshScale>
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<MeshTranslation>
<physm:X>0</physm:X>
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</MeshTranslation>
<LaserBox>
<phys:BoxState>
<phys:Name>P3DXLaserRangeFinder/SickLRF</phys:Name>
<phys:ShapeId>Box</phys:ShapeId>
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<physm:Z>0.18</physm:Z>
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<phys:Radius>0</phys:Radius>
<phys:MassDensity>
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<phys:CenterOfMass>
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<physm:X>0</physm:X>
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<physm:Orientation>
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<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.5</physm:X>
<physm:Y>0.5</physm:Y>
<physm:Z>0.5</physm:Z>
<physm:W>1</physm:W>
</phys:DiffuseColor>
<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
</phys:BoxState>
</BoxShape>
</SingleShapeEntity>
<SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>greybox</sim:Name>
<sim:Assets>
<sim:Effect>default</sim:Effect>
</sim:Assets>
<sim:Pose>
<physm:Position>
<physm:X>-2.004857</physm:X>
<physm:Y>0.7489961</physm:Y>
<physm:Z>-1.00070715</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>-8.509706E-06</physm:X>
<physm:Y>4.158797E-05</physm:Y>
<physm:Z>-2.693195E-06</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>10</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<BoxShape>
<phys:BoxState>
<phys:Name>greybox</phys:Name>
<phys:ShapeId>Box</phys:ShapeId>
<phys:Dimensions>
<physm:X>1</physm:X>
<physm:Y>1.5</physm:Y>
<physm:Z>0.5</physm:Z>
</phys:Dimensions>
<phys:Radius>0</phys:Radius>
<phys:Material>
<phys:Name>gbox</phys:Name>
<phys:Restitution>0.5</phys:Restitution>
<phys:DynamicFriction>0.4</phys:DynamicFriction>
<phys:StaticFriction>0.5</phys:StaticFriction>
<phys:MaterialIndex>2</phys:MaterialIndex>
</phys:Material>
<phys:MassDensity>
<phys:Mass>10</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.5</physm:X>
<physm:Y>0.5</physm:Y>
<physm:Z>0.5</physm:Z>
<physm:W>1</physm:W>
</phys:DiffuseColor>
<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
</phys:BoxState>
</BoxShape>
</SingleShapeEntity>
<SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
<sim:State>
<sim:Name>bluesphere</sim:Name>
<sim:Assets>
<sim:Effect>default</sim:Effect>
</sim:Assets>
<sim:Pose>
<physm:Position>
<physm:X>-2</physm:X>
<physm:Y>0.799</physm:Y>
<physm:Z>-3</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>-9.713688E-08</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</sim:Pose>
<sim:Velocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:Velocity>
<sim:AngularVelocity>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</sim:AngularVelocity>
<sim:MassDensity>
<phys:Mass>10</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</sim:MassDensity>
<sim:Flags>Dynamic</sim:Flags>
</sim:State>
<Flags>None</Flags>
<ChildCount>0</ChildCount>
<ReferenceFrame>Global</ReferenceFrame>
<MeshScale>
<physm:X>1</physm:X>
<physm:Y>1</physm:Y>
<physm:Z>1</physm:Z>
</MeshScale>
<MeshRotation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshRotation>
<MeshTranslation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</MeshTranslation>
<SphereShape>
<phys:SphereState>
<phys:Name>bluesphere</phys:Name>
<phys:ShapeId>Sphere</phys:ShapeId>
<phys:Dimensions>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:Dimensions>
<phys:Radius>0.8</phys:Radius>
<phys:Material>
<phys:Name>bphere</phys:Name>
<phys:Restitution>0.5</phys:Restitution>
<phys:DynamicFriction>0.4</phys:DynamicFriction>
<phys:StaticFriction>0.5</phys:StaticFriction>
<phys:MaterialIndex>3</phys:MaterialIndex>
</phys:Material>
<phys:MassDensity>
<phys:Mass>10</phys:Mass>
<phys:InertiaTensor>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</phys:InertiaTensor>
<phys:CenterOfMass>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>0</physm:W>
</physm:Orientation>
</phys:CenterOfMass>
<phys:Density>0</phys:Density>
<phys:LinearDamping>0</phys:LinearDamping>
<phys:AngularDamping>0</phys:AngularDamping>
</phys:MassDensity>
<phys:LocalPose>
<physm:Position>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
</physm:Position>
<physm:Orientation>
<physm:X>0</physm:X>
<physm:Y>0</physm:Y>
<physm:Z>0</physm:Z>
<physm:W>1</physm:W>
</physm:Orientation>
</phys:LocalPose>
<phys:TextureFileName />
<phys:DiffuseColor>
<physm:X>0.4</physm:X>
<physm:Y>0.3</physm:Y>
<physm:Z>0.7</physm:Z>
<physm:W>1</physm:W>
</phys:DiffuseColor>
<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
</phys:SphereState>
</SphereShape>
</SingleShapeEntity>
</SerializedEntities>
</SimulationState>
ROS：请参考：
1 http://blog.csdn.net/zhangrelay/article/details/52842627
2 http://blog.csdn.net/ZhangRelay/article/details/52842761
3 算法
算法是机器人设计的核心，由编程语言实现。不论RDS和ROS都提供了非常丰富的接口，可以使用几乎所有主流语言进行算法设计，同时，都提供了图形化编程方式，极大降低入门难度。
这里不涉及算法具体实现和说明，依据用途不同，有环境建模功能的，如SLAM等；也包括任务规划算法，还有物体分类识别，语音交互等，差别太大，依据需要自学。
RDS：
ROS:
http://blog.csdn.net/zhangrelay/article/details/53020569
依靠可视化图形编程，机器人编程能立刻普及到小学和幼儿园！
除此之外，RDS推荐C#和SPL，ROS推荐C++和Python，分别为编译型和解释型。
ROS indigo： http://blog.csdn.net/column/details/13335.html
ROS Kinetic： http://blog.csdn.net/column/details/13113.html
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