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Showing SKILL.md
| name | gazebo |
| description | 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 |
| argument-hint | Gazebo OR gazebo OR 仿真 OR sdf OR URDF OR Gazebo Classic OR Gazebo Garden |
| user-invocable | true |
agents/skills/simulation/physics-simulation/agents/skills/ros2-debug/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 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>
<!-- 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>
real_time_factor < 0.9（仿真太慢）