2025睿抗机器人大赛智能侦查赛道省赛全流程——基础入门
安装好Ubuntu系统和ROS
-
安装Ubuntu
首先需选择与目标 ROS 版本匹配的 Ubuntu 系统镜像（如 ROS Noetic 对应 Ubuntu 20.04、ROS Humble 对应 Ubuntu 22.04），从 Ubuntu 官网下载正版镜像文件；接着使用 U 盘启动盘制作工具（如 Rufus），将镜像写入空白 U 盘并设置为可引导模式；随后将制作好的 U 盘插入待安装设备（一般选择自己的笔记本电脑），重启设备并通过快捷键（不同的电脑按键不同，大家自行搜索）进入 BIOS 设置 U 盘为第一启动项；进入 Ubuntu 安装界面后，按需选择 “试用” 或 “安装 Ubuntu”，依次完成语言设置、磁盘分区（推荐新手选择 “清除磁盘并安装 Ubuntu”）、地区与时区设置、用户名及密码创建，等待系统文件复制与配置完成后重启设备，即可完成 Ubuntu 系统安装。csdn有很多现成的好的方案，我在这就不班门弄斧了。 -
实操建议
（1）对笔记本电脑的要求：处于Free状态的空间100G以上（我一般是用diskgenius分配空间），预留这么大主要是考虑到后续大家由于不熟悉使用，在前期入门的时候会安装不少东西，给大家实操留下足够的容错空间。
（2）准备一个64G或者32G的U盘用于作启动盘，Ubuntu镜像下载可以去Ubuntu官网，但想要快点一般去中科大镜像源官网下载（清华源这些也可以）,注意下载的版本一般是要对应，且一般是桌面版。
（3）安装好之后相当于又是一个新的系统，接下来要做的是熟悉这个系统怎么使用（你当时怎么了解使用Windows的就可以怎么学习使用Ubuntu，只是要记住一点，Ubuntu系统整个底层是python构建起来的，你没看错，就是用你学的Python搭建起来的整个系统，因此在主环境下（即终端默认打开进去的环境）更新一些Python库的时候要注意不要无脑更新，尤其是在后续部署yolo的时候容易出现因为更新了某些库导致系统底层代码兼容性出问题） -
安装ROS
十分十分推荐鱼香ROS一键安装，按照终端输出提示安装就行
wget http://fishros.com/install -O fishros && . fishros
依次完成①更换系统源，更换系统源并删除旧源②ROS安装，系统版本是Ubuntu20.04–安装noetic，Ubuntu18.04–安装melodic，继续选择完整安装③rosdep更新，安装rosdepc④更新ROS环境设置⑤运行小乌龟检测是否安装成功，即
// 第一个终端输入下面的指令
roscore
// 第二个终端输入下面的指令
rosrun turtlesim turtlesim_node
// 第三个终端输入下面的指令
rosrun turtlesim turtle_teleop_key
(光标要在这个终端闪动时，键盘控制小乌龟才是有效的，按键盘的向上等四个方向按键就可以控制乌龟运动，小乌龟的轨迹也会被记录出来。
新建工作空间和功能包
完成功能包gazebo_pkg配置
第一阶段：框架搭建
打开终端依次输入以下指令：
出现了下图所示的情况说明工作空间编译完成。
然后继续依次输入下面的指令：
出现了编译成功的结果（如下图）
之后可以添加环境变量设置，先打开文件夹到主目录下，勾选显示隐藏文件。
然后找到.bashrc文件，双击打开，在文件最后一行输入下面的指令之后保存退出即可
source ~/test_ws/devel/setup.bash
最后在终端验证是否添加成功，注意这里需要新开一个终端，因为.bashrc文件相当于启动文件，可以理解为只要开终端就会自动执行的内容。
至此第一阶段配置算是完成了。下面进行第二阶段的配置，主要是编写机器人模型。
第二阶段：搭建机器人模型
继续在终端输入下面的指令：
在打开的waking_robot_new.xacro输入以下内容之后保存退出即可
<?xml version="1.0"?>
<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="length_wheel" value="0.05" />
<xacro:property name="radius_wheel" value="0.06" />
<xacro:property name="camera_link" value="0.05" />
<xacro:property name="PI" value="3.1415926"/>
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="0.1" ixy="0.0"
ixz="0.0"
iyy="0.1" iyz="0.0"
izz="0.1" />
</inertial>
</xacro:macro>
<link name="dummy">
</link>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<xacro:default_inertial mass="0.0001"/>
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_footprint"/>
</joint>
<!-- <xacro:include filename="$(find nav_sim)/urdf/robot.gazebo" /> -->
<gazebo reference="base_footprint">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<geometry>
<box size="0.2 .3 .1"/>
</geometry>
<origin rpy="0 0 ${PI/2}" xyz="0 0 0.05"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2 .3 0.1"/>
</geometry>
</collision>
<xacro:default_inertial mass="8.2"/>
</link>
<link name="wheel_1">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<!-- <mu1>0.5</mu1>
<mu2>0.5</mu2> -->
<xacro:default_inertial mass="0.5"/>
</link>
<link name="wheel_2">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<!-- <mu1>0.5</mu1>
<mu2>0.5</mu2> -->
<xacro:default_inertial mass="0.5"/>
</link>
<link name="wheel_3">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<!-- <mu1>0.5</mu1>
<mu2>0.5</mu2> -->
<xacro:default_inertial mass="0.5"/>
</link>
<link name="wheel_4">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0" />
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<!-- <mu1>0.5</mu1>
<mu2>0.5</mu2> -->
<xacro:default_inertial mass="0.5"/>
</link>
<joint name="base_to_wheel1" type="continuous">
<parent link="base_link"/>
<child link="wheel_1"/>
<origin rpy="${-PI/2} 0 0" xyz="0.1 0.13 0"/>
<axis xyz="0 0 1" />
</joint>
<joint name="base_to_wheel2" type="continuous">
<axis xyz="0 0 1" />
<anchor xyz="0 0 0" />
<limit effort="100" velocity="100" />
<parent link="base_link"/>
<child link="wheel_2"/>
<origin rpy="${-PI/2} 0 0" xyz="-0.1 0.13 0"/>
</joint>
<joint name="base_to_wheel3" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="wheel_3"/>
<origin rpy="${-PI/2} 0 0" xyz="0.1 -0.13 0"/>
</joint>
<joint name="base_to_wheel4" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="wheel_4"/>
<origin rpy="${-PI/2} 0 0" xyz="-0.1 -0.13 0"/>
</joint>
<!-- IMU joint -->
<joint name="imu_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0.125 0 0.125" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<!-- IMU -->
<link name="imu_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<inertial>
<mass value="1e-2" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<!-- IMU -->
<!-- Camera joint -->
<joint name="camera_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0.125 0 0.175" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<!-- Camera -->
<link name="camera_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<inertial>
<mass value="1e-2" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<!-- camera -->
<!-- Hokuyo joint -->
<joint name="hokuyo_joint" type="fixed">
<origin xyz="0.125 0.0 0.225" rpy="0 0 0"/>
<parent link="base_link"/>
<axis xyz="0 1 0" />
<child link="laser_frame"/>
</joint>
<!-- Hokuyo Laser -->
<link name="laser_frame">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://gazebo_pkg/meshes/hokuyo.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1e-2" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<!-- hokuyo -->
<!-- gazebo插件设置相关 -->
<gazebo reference="base_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="wheel_1">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="wheel_2">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="wheel_3">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="wheel_4">
<material>Gazebo/Black</material>
</gazebo>
<!-- ros_control plugin -->
<!-- <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/robot</robotNamespace>
<legacyModeNS> true </legacyModeNS>
</plugin>
</gazebo> -->
<!-- camera_link -->
<gazebo reference="camera_link">
<material>Gazebo/Red</material>
</gazebo>
<!-- hokuyo -->
<gazebo reference="laser_frame">
<sensor type="ray" name="head_hokuyo_sensor">
<!-- <sensor type="gpu_ray" name="head_hokuyo_sensor"> -->
<!-- GPU rate：15 30改为30可以有效避免地图更新不及时造成小车短暂迷路的情况-->
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>30</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.1415926</min_angle>
<max_angle>3.1415926</max_angle>
</horizontal>
</scan>
<range>
<min>0.05</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<!-- GPU版本 -->
<!-- <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so"> -->
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>laser_frame</frameName>
</plugin>
</sensor>
</gazebo>
<!-- camera -->
<gazebo reference="camera_link">
<sensor type="camera" name="camera1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/</cameraName>
<imageTopicName>/cam</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<!-- Drive controller -->
<gazebo>
<plugin name="planar_controller" filename="libgazebo_ros_planar_move.so">
<enableYAxis>true</enableYAxis>
<commandTopic>/cmd_vel</commandTopic>
<odometryTopic>/odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>30</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
<!-- imu控制 -->
<gazebo reference="imu_link">
<material>Gazebo/Orange</material>
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>/imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>100.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- gazebo插件设置相关结束 -->
</robot>
之后去编写launch文件对机器人在rviz里面可视化，先新建launch文件夹，然后新建名为view_waking_robot.launch的launch文件（新建文件夹除了前面的mkdir指令也可以和Windows系统一样右击新建即可，这里不做演示，因为和Windows完全一样），并在launch文件里添加以下内容，之后保存退出
<launch>
<!-- 1. 声明xacro文件路径（核心：替换为你的功能包名和实际文件路径） -->
<param name="robot_description" command="$(find xacro)/xacro '$(find gazebo_pkg)/urdf/waking_robot_new.xacro'" />
<!-- 说明：
- your_package_name：替换为你的ROS功能包名称（存放xacro文件的功能包）
- urdf：若xacro文件存放在xacro文件夹，改为xacro即可
-->
<!-- 2. 启动关节状态发布节点（静态模型可保留，动态模型必需，确保关节正常显示） -->
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<!-- 3. 启动机器人状态发布节点（将机器人描述和关节状态整合发布，RViz需依赖此节点） -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- 4. 启动RViz可视化工具（可选：指定默认配置文件，无需手动重复配置） -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gazebo_pkg)/rviz/test.rviz" output="screen" />
<!-- 说明：
- 若没有自定义rviz配置文件，可删除 args="-d ..." 这部分，启动后手动配置
- 若要创建自定义rviz配置，先手动配置好后保存到功能包的rviz文件夹即可
- RVIZ是我提前新建好的，大家没有新建的话需要新建一下，至于里面的RVIZ文件是在运行没有配置RVIZ的launch时手动配置好保存在功能包的，具体流程如下，这里给出来的是配置好的launch
-->
</launch>
这里要注意的是，Rviz已经配置好了，具体配置流程如下：
①启动 launch 文件后，RViz 界面打开，首先在左侧「Displays」面板中，设置 Fixed Frame 为机器人基坐标系（通常为 base_link 或 base_footprint，坐标系随便选择都可以，影响的只是机器人位置）；
②点击左侧「Displays」面板下方的「Add」按钮，在弹出的窗口中选择 RobotModel 组件，点击「OK」添加。
③添加完成后，无需额外修改参数（Robot Description 默认识别 /robot_description 话题，与 launch 文件配置对应），此时即可在 RViz 中看到 waking_robot_new.xacro 对应的机器人 3D 可视化模型。（RobotModel会冒红，是因为缺失//gazebo_pkg/meshes/hokuyo.dae，这个下一步就会解决）。
出现下面的结果说明一切正常。
继续新建文件夹meshes，注意仍旧是在工作包gazebo_pkg里面。
进入gazebo_pkg下的meshes文件夹下，右击打开终端，使用touch命令进行下面两个文件：
在bot.dae文件里面添加一下内容：
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<authoring_tool>Google SketchUp 8.0.3161</authoring_tool>
</contributor>
<created>2013-03-12T18:37:32Z</created>
<modified>2013-03-12T18:37:32Z</modified>
<unit meter="0.0254000" name="inch" />
<up_axis>Z_UP</up_axis>
</asset>
<library_visual_scenes>
<visual_scene id="ID1">
<node name="SketchUp">
<instance_geometry url="#ID2">
<bind_material>
<technique_common>
<instance_material symbol="Material2" target="#ID4">
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
<instance_geometry url="#ID10">
<bind_material>
<technique_common>
<instance_material symbol="Material2" target="#ID4">
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<library_geometries>
<geometry id="ID2">
<mesh>
<source id="ID5">
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<vertices id="ID13">
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<triangles count="10" material="Material2">
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</geometry>
</library_geometries>
<library_materials>
<material id="ID4" name="material_0">
<instance_effect url="#ID3" />
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</library_materials>
<library_effects>
<effect id="ID3">
<profile_COMMON>
<technique sid="COMMON">
<lambert>
<diffuse>
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</lambert>
</technique>
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</effect>
</library_effects>
<scene>
<instance_visual_scene url="#ID1" />
</scene>
</COLLADA>
在hokuyo.dae文件里面添加以下内容：（文件内容量巨大，建议复制粘贴）
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.64.0 r51232</authoring_tool>
</contributor>
<created>2013-03-22T08:19:53</created>
<modified>2013-03-22T08:19:53</modified>
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</polylist>
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<input semantic="VERTEX" source="#Mesh-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Mesh-mesh-normals" offset="1"/>
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</polylist>
</mesh>
<extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" name="Camera" type="NODE">
<translate sid="location">7.481132 -6.50764 5.343665</translate>
<rotate sid="rotationZ">0 0 1 46.69194</rotate>
<rotate sid="rotationY">0 1 0 0.619768</rotate>
<rotate sid="rotationX">1 0 0 63.5593</rotate>
<scale sid="scale">1 1 1</scale>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<translate sid="location">4.076245 1.005454 5.903862</translate>
<rotate sid="rotationZ">0 0 1 106.9363</rotate>
<rotate sid="rotationY">0 1 0 3.163707</rotate>
<rotate sid="rotationX">1 0 0 37.26105</rotate>
<scale sid="scale">1 1 1</scale>
<instance_light url="#Lamp-light"/>
</node>
<node id="Mesh_001" name="Mesh_001" type="NODE">
<translate sid="location">0 0 0</translate>
<rotate sid="rotationZ">0 0 1 0</rotate>
<rotate sid="rotationY">0 1 0 0</rotate>
<rotate sid="rotationX">1 0 0 90.00001</rotate>
<scale sid="scale">1 1 1</scale>
<instance_geometry url="#Mesh-mesh">
<bind_material>
<technique_common>
<instance_material symbol="black-material" target="#black-material"/>
<instance_material symbol="white_001-material" target="#white_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
最后保存退出即可。新开终端执行以下指令：
（初学者很容易路径搞混，一定要对比图片里面的每一个细节，这样才会比较大成功率复现图片里的结果）
同志们，发现没？之前的报错不见了。 再回看原来的报错：
正对应了刚刚解决的dae缺失 那么，hokuyo.dae究竟是什么？简单的理解这是相机和场景相关的模型配置文件，bot.dae则是一共场景搭建和渲染相关的配置文件。
结语
至此我们已经完成了机器人的搭建,但这只是一个静态机器人模型，下面我们将搭建地图模型并实现控制机器人运动。
话不多说，继续向着目标前进
（为提高效率，上述机器人模型借助了开源模型，制作不易，敬请理解）
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