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New Crowdin translations - ko (#25659)

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2025-10-01 13:53:06 +10:00
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docs/ko/sim_gazebo_gz/index.md
+35 -33
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@@ -20,6 +20,8 @@ See [Simulation](../simulation/index.md) for general information about simulator
Gazebo Harmonic is installed by default on Ubuntu 22.04 as part of the normal [development environment setup](../dev_setup/dev_env_linux_ubuntu.md#simulation-and-nuttx-pixhawk-targets).
Gazebo versions Harmonic, Ionic, and Jetty are supported on Ubuntu 24.04. The latest installed Gazebo release is used by default.
:::info
The PX4 installation scripts are based on the instructions: [Binary Installation on Ubuntu](https://gazebosim.org/docs/harmonic/install_ubuntu/) (gazebosim.org).
:::
@@ -316,33 +318,33 @@ Here are some examples of the different scenarios covered above.
1. **Start simulator + default world + spawn vehicle at default pose**
```sh
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
```
```sh
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
```
2. **Start simulator + default world + spawn vehicle at custom pose (y=2m)**
```sh
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
```
```sh
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
```
3. **Start simulator + default world + link to existing vehicle**
```sh
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_NAME=x500 ./build/px4_sitl_default/bin/px4
```
```sh
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_NAME=x500 ./build/px4_sitl_default/bin/px4
```
4. **Start simulator in standalone mode + connect to Gazebo instance running default world**
```sh
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
```
```sh
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4
```
In a separate terminal run:
In a separate terminal run:
```sh
python /path/to/simulation-gazebo
```
```sh
python /path/to/simulation-gazebo
```
## Adding New Worlds and Models
@@ -358,38 +360,38 @@ To add a new model:
2. Define the default parameters for Gazebo in the airframe configuration file (this example is from [x500 quadcopter](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500)):
```ini
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=<your model name>}
```
```ini
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=<your model name>}
```
- `PX4_SIMULATOR=${PX4_SIMULATOR:=gz}` sets the default simulator (Gz) for that specific airframe.
- `PX4_SIMULATOR=${PX4_SIMULATOR:=gz}` sets the default simulator (Gz) for that specific airframe.
- `PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}` sets the [default world](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf) for that specific airframe.
- `PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}` sets the [default world](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf) for that specific airframe.
- Setting the default value of `PX4_SIM_MODEL` lets you start the simulation with just:
- Setting the default value of `PX4_SIM_MODEL` lets you start the simulation with just:
```sh
PX4_SYS_AUTOSTART=<your new airframe id> ./build/px4_sitl_default/bin/px4
```
```sh
PX4_SYS_AUTOSTART=<your new airframe id> ./build/px4_sitl_default/bin/px4
```
3. Add CMake Target for the [airframe](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt).
- If you plan to use "regular" mode, add your model SDF to `Tools/simulation/gz/models/`.
- If you plan to use _standalone_ mode, add your model SDF to `~/.simulation-gazebo/models/`
- If you plan to use "regular" mode, add your model SDF to `Tools/simulation/gz/models/`.
- If you plan to use _standalone_ mode, add your model SDF to `~/.simulation-gazebo/models/`
You can of course also use both.
You can of course also use both.
### Adding a World
To add a new world:
1. Add your world to the list of worlds found in the [`CMakeLists.txt` here](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/CMakeLists.txt).
This is required in order to allow `CMake` to generate correct targets.
This is required in order to allow `CMake` to generate correct targets.
- If you plan to use "normal" mode, add your world sdf to `Tools/simulation/gz/worlds/`.
- If you plan to use _standalone_ mode, add your world SDF to `~/.simulation-gazebo/worlds/`
- If you plan to use "normal" mode, add your world sdf to `Tools/simulation/gz/worlds/`.
- If you plan to use _standalone_ mode, add your world SDF to `~/.simulation-gazebo/worlds/`
:::info
As long as the world file and the model file are in the Gazebo search path (`GZ_SIM_RESOURCE_PATH`) it is not necessary to add them to the PX4 world and model directories.