> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-1-turtlebot3/11.-simulation-mo-ni/11.2.-shi-yong-gazebo-mo-ni-qi-lai-jin-hang-tb3-mo-ni/11.2.2.-chan-du-de-gazebo-cha-jian/11.2.2.1.-ru-he-shi-yong-gazebo-plugin-cha-jian.md). # 11.2.2.1. 如何使用 Gazebo Plugin 插件 **1) 安裝 Gazebo7 程式庫** ``` $ sudo apt-get install libgazebo7-dev ``` **2) 從 Github 下載插件原始碼** ``` $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_gazebo_plugin ``` **3) 將 Gazebo 插件路徑加入 .bashrc 檔** ``` $ nano ~/.bashrc ``` {% hint style="info" %} Tip：turtlebot3\_gazebo\_plugin path = \~/turtlebot3\_gazebo\_plugin {% endhint %} ``` export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${turtlebot3_gazebo_plugin path}/build export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${turtlebot3_gazebo_plugin path}/models ``` **4) Make 及 Build** ``` $ cd ${turtlebot3_gazebo_plugin path} $ mkdir build $ cd build $ cmake .. $ make ``` **5) 執行 plugin 插件** {% hint style="info" %} Tip：在執行指令前，必須先指定 TurtleBot3 的 model 模型名稱。${TB3\_MODEL} 是表示所使用的 burger, waffle, waffle\_pi 模型的名稱。如果你要永久設定 export setting，請參考 [**Export TURTLEBOT3\_MODEL**](http://emanual.robotis.com/docs/en/platform/turtlebot3/export_turtlebot3_model) 網頁。 {% endhint %} ``` $ cd ${turtlebot3_gazebo_plugin} $ gazebo worlds/turtlebot3_${TB3_MODEL}.world ```

**6) 鍵盤遙控操作** ``` w - set linear velocity up x - set linear velocity down d - set angular velocity up a - set angular velocity down s - set all velocity to zero ``` **7) Topic Subscribe 訂閱 topic 指令** * 顯示全部 topic ``` $ gz topic -l ``` * 訂閱光達 scan 數據 ``` $ gz topic -e /gazebo/default/user/turtlebot3_${TB3_MODEL}/lidar/hls_lfcd_lds/scan ``` * 訂閱攝影機影像數據 **Waffle 鬆餅款** (Intel RealSense R200) ``` $ gz topic -e /gazebo/default/user/turtlebot3_waffle/image/intel_realsense_r200/image ``` **Waffle Pi 鬆餅 Pi 款** (Raspberry Pi camera) ``` $ gz topic -e /gazebo/default/user/turtlebot3_waffle_pi/image/raspberry_pi_cam/image ``` **8) 執行 listener** ``` $ cd ${turtlebot3_gazebo_plugin}/build $ ./lidar_listener ${TB3_MODEL} ``` 打開新的 terminal 視窗輸入下方指令。 ``` $ cd ${turtlebot3_gazebo_plugin}/build $ ./image_listener ${TB3_MODEL} ``` **參考資源：** * [**Gazebo API** ](http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/index.html) * [**How to contribute model** ](http://gazebosim.org/tutorials?tut=model_contrib\&cat=build_robot) * [**How to make model** ](http://gazebosim.org/tutorials?tut=build_model\&cat=build_robot) * [**Tutorial for making Hello World plugin** ](http://gazebosim.org/tutorials?tut=plugins_hello_world\&cat=write_plugin) * [**Tutorial for making model plugin**](http://gazebosim.org/tutorials?cat=guided_i\&tut=guided_i5) * [**Tutorial for making sensor plugin** ](http://gazebosim.org/tutorials?tut=contact_sensor) * [**Tutorial for topic subscription**](http://gazebosim.org/tutorials?tut=topics_subscribed)