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New Crowdin translations - ko (#24713)

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docs/ko/sim_gazebo_classic/index.md
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@@ -1,8 +1,9 @@
# Gazebo Classic Simulation
:::warning
_Gazebo Classic_ is supported with PX4 up to Ubuntu Linux 20.04.
In Ubuntu 22.04 and later you must use [Gazebo](../sim_gazebo_gz/index.md) (which was [formerly known](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) as "Gazebo Ignition").
[Gazebo](../sim_gazebo_gz/index.md) is nearing feature-parity with Gazebo Classic on PX4, and will soon replace it.
Until then you can continue to use Gazebo-Classic on Ubuntu 22.04 for the few cases where you still need to.
For more information see [PX4-Autopilot#23602: GZ Feature tracker](https://github.com/PX4/PX4-Autopilot/issues/23602).
:::
Gazebo Classic is a powerful 3D simulation environment for autonomous robots that is particularly suitable for testing object-avoidance and computer vision.
@@ -32,11 +33,8 @@ See [Simulation](../simulation/index.md) for general information about simulator
If you plan to use PX4 with ROS you **should follow the** [ROS Instructions](../simulation/ros_interface.md) to install both ROS and Gazebo Classic (and thereby avoid installation conflicts).
:::
Gazebo Classic setup is included in our [standard build instructions](../dev_setup/dev_env.md) for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
For Ubuntu 22.04 LTS and later, the installation script ([/Tools/setup/ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh)) installs the [Gazebo](../sim_gazebo_gz/index.md) simulator instead.
If you want to use Gazebo Classic on Ubuntu 22.04 you can use the following commands to remove [Gazebo](../sim_gazebo_gz/index.md) (Harmonic) and then reinstall Gazebo-Classic 11:
The standard installation script ([/Tools/setup/ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh)) installs the [Gazebo](../sim_gazebo_gz/index.md) (Harmonic) simulator.
If you want to use Gazebo Classic on _Ubuntu 22.04 (only)_ you can use the following commands to remove Gazebo and then reinstall Gazebo-Classic 11:
```sh
sudo apt remove gz-harmonic
@@ -47,10 +45,10 @@ sudo aptitude install gazebo libgazebo11 libgazebo-dev
Note that `aptitude` is needed because it can resolve dependency conflicts (by removing certain packages) that `apt` is unable to handle.
:::tip
You could also modify the installation script to install Gazebo Classic on later versions before it is run for the first time.
:::
You could also modify the installation script to install Gazebo Classic on Ubuntu 22.04 before it is run for the first time.
Additional installation instructions can be found on gazebosim.org.
:::
## Running the Simulation
@@ -189,7 +187,7 @@ To run at double real-time:
PX4_SIM_SPEED_FACTOR=2 make px4_sitl_default gazebo-classic
```
실시간 절반으로 실행하려면:
To run at half real-time:
```sh
PX4_SIM_SPEED_FACTOR=0.5 make px4_sitl_default gazebo-classic
@@ -518,18 +516,18 @@ Lockstep makes it possible to [change the simulation speed](#change-simulation-s
#### Lockstep Sequence
잠금단계의 순서는 다음과 같습니다.
The sequence of steps for lockstep are:
1. The simulation sends a sensor message [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) including a timestamp `time_usec` to update the sensor state and time of PX4.
2. PX4 receives this and does one iteration of state estimation, controls, etc. and eventually sends an actuator message [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
3. 시뮬레이션은 액추에이터/모터 메시지를 수신후에, 물리적 시뮬레이션후에 PX4로 전송할 다음 센서 메시지를 계산합니다.
3. The simulation waits until it receives the actuator/motor message, then simulates the physics and calculates the next sensor message to send to PX4 again.
시스템은 시뮬레이션 시간을 포함하는 센서 메시지를 전송하는 "프리휠링" 기간으로 시작하므로, 초기화되고 액추에이터 메시지로 응답시까지 PX4를 실행합니다.
The system starts with a "freewheeling" period where the simulation sends sensor messages including time and therefore runs PX4 until it has initialized and responds with an actuator message.
#### Disabling Lockstep
SITL이 이 기능을 지원하지 않는 시뮬레이터와 함께 사용되는 경우에는 잠금단계 시뮬레이션을 비활성화할 수 있습니다.
이 경우 시뮬레이터와 PX4는 호스트 시스템 시간을 사용하며 서로를 기다리지 않습니다.
The lockstep simulation can be disabled if, for example, SITL is to be used with a simulator that does not support this feature.
In this case the simulator and PX4 use the host system time and do not wait on each other.
To disable lockstep in: