[ROS] 安装Gazebo 使用Gazebo 实现摄像头仿真雷达仿真 Kinect仿真

电玩女神 2023-02-17 15:57 16阅读 0赞

**目录**

安装Gazebo

1.添加源

2.安装gazebo

使用Gazepo 实现摄像头仿真

1.工作空间与功能包的创建

2）Gazebo配置文件

3)车体urdf建模与控制程序

4)launch文件

5)执行launch文件运行程序

使用Gazepo 实现雷达仿真

1)Launch文件

2) 执行

使用Gazepo 实现Kinect仿真

1）launch文件

2）执行

--------------------

## 安装Gazebo ##

Gazeop是一款仿真软件，和ROS有非常好的兼容性，通常来说使用rviz就可以满足绝大部分需求，但是要考虑真实世界的物理属性的话（比如摩擦力，空气阻力，湿度，地面凹凸程度等），就需要用到Gazepo

### **1.添加源** ###

> sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable \`lsb\_release -cs\` main" > /etc/apt/sources.list.d/gazebo-stable.list'

> wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

### **2.安装gazebo** ###

> sudo apt-get update

> sudo apt-get install gazebo7
> 
> sudo apt-get install libgazebo7-dev

## 使用Gazepo 实现摄像头仿真 ##

###  1.工作空间与功能包的创建 ###

//创建工作空间
    $ source /opt/ros/kinetic/setup.zsh
    $ mkdir -p ~/catkin_ws/src
    $ cd ~/catkin_ws/src
    $ catkin_init_workspace
    $ cd ~/catkin_ws
    $ catkin_make 
    $ souce ~/catkiin_ws/devel/setup.zsh
    $ cd ~/catkin_ws/src
    
    //创建功能包
    $ catkin_create_pkg my_gazebo gazebo_plugins gazebo_ros gazebo_ros_control roscpp rospy
    $ cd ~/catkin_ws
    $ catkin_make
    $ source devel/setup.zsh
    
    //创建目录结构
    $ cd ~/catkin_ws/src/my_gazebo 
    $ mkdir worlds launch

### ** 2）Gazebo配置文件** ###

请按照下列方式命名，或修改launch文件

> $ cd world
> 
> $ touch playground.world

该文件由Gazebo界面配置后导出，非手动编写，复制即可

<sdf version='1.4'>
      <world name='default'>
        <light name='sun' type='directional'>
          <cast_shadows>1</cast_shadows>
          <pose>0 0 10 0 -0 0</pose>
          <diffuse>0.8 0.8 0.8 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <attenuation>
            <range>1000</range>
            <constant>0.9</constant>
            <linear>0.01</linear>
            <quadratic>0.001</quadratic>
          </attenuation>
          <direction>0.5 0.1 -0.9</direction>
        </light>
        <scene>
          <ambient>0.4 0.4 0.4 1</ambient>
          <background>0.7 0.7 0.7 1</background>
          <shadows>1</shadows>
        </scene>
        <physics type='ode'>
          <max_step_size>0.01</max_step_size>
          <real_time_factor>1</real_time_factor>
          <real_time_update_rate>100</real_time_update_rate>
          <gravity>0 0 -9.8</gravity>
        </physics>
        <model name='bookshelf'>
          <static>1</static>
          <link name='link'>
            <inertial>
              <mass>1</mass>
            </inertial>
            <collision name='back'>
              <pose>0 0.005 0.6 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.9 0.01 1.2</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual1'>
              <pose>0 0.005 0.6 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.9 0.01 1.2</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <collision name='left_side'>
              <pose>0.45 -0.195 0.6 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.02 0.4 1.2</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual2'>
              <pose>0.45 -0.195 0.6 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.02 0.4 1.2</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <collision name='right_side'>
              <pose>-0.45 -0.195 0.6 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.02 0.4 1.2</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual3'>
              <pose>-0.45 -0.195 0.6 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.02 0.4 1.2</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <collision name='bottom'>
              <pose>0 -0.195 0.03 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.06</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual4'>
              <pose>0 -0.195 0.03 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.06</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <collision name='top'>
              <pose>0 -0.195 1.19 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.02</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual5'>
              <pose>0 -0.195 1.19 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.02</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <collision name='low_shelf'>
              <pose>0 -0.195 0.43 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.02</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual6'>
              <pose>0 -0.195 0.43 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.02</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <collision name='high_shelf'>
              <pose>0 -0.195 0.8 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.02</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual7'>
              <pose>0 -0.195 0.8 0 -0 0</pose>
              <geometry>
                <box>
                  <size>0.88 0.4 0.02</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Wood</name>
                </script>
              </material>
            </visual>
            <velocity_decay>
              <linear>0</linear>
              <angular>0</angular>
            </velocity_decay>
            <self_collide>0</self_collide>
            <kinematic>0</kinematic>
            <gravity>1</gravity>
          </link>
          <pose>0 1.53026 0 0 -0 0</pose>
        </model>
        <model name='jersey_barrier'>
          <static>1</static>
          <link name='link'>
            <visual name='visual'>
              <geometry>
                <mesh>
                  <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
                </mesh>
              </geometry>
            </visual>
            <collision name='upright'>
              <pose>0 0 0.5715 0 -0 0</pose>
              <geometry>
                <box>
                  <size>4.06542 0.3063 1.143</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <collision name='base'>
              <pose>0 0 0.032258 0 -0 0</pose>
              <geometry>
                <box>
                  <size>4.06542 0.8107 0.064516</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <collision name='base2'>
              <pose>0 0 0.1 0 -0 0</pose>
              <geometry>
                <box>
                  <size>4.06542 0.65 0.1</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <collision name='base3'>
              <pose>0 0 0.2 0 -0 0</pose>
              <geometry>
                <box>
                  <size>4.06542 0.5 0.1</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <collision name='left-angle'>
              <pose>0 -0.224 0.2401 0.9 -0 0</pose>
              <geometry>
                <box>
                  <size>4.06542 0.5 0.064516</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <collision name='right-angle'>
              <pose>0 0.224 0.2401 -0.9 0 0</pose>
              <geometry>
                <box>
                  <size>4.06542 0.5 0.064516</size>
                </box>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <velocity_decay>
              <linear>0</linear>
              <angular>0</angular>
            </velocity_decay>
            <self_collide>0</self_collide>
            <kinematic>0</kinematic>
            <gravity>1</gravity>
          </link>
          <pose>-4 -1 0 0 -0 -0.7</pose>
        </model>
        <model name='ground_plane_0'>
          <static>1</static>
          <link name='link'>
            <collision name='collision'>
              <geometry>
                <plane>
                  <normal>0 0 1</normal>
                  <size>100 100</size>
                </plane>
              </geometry>
              <surface>
                <friction>
                  <ode>
                    <mu>100</mu>
                    <mu2>50</mu2>
                  </ode>
                </friction>
                <bounce/>
                <contact>
                  <ode/>
                </contact>
              </surface>
              <max_contacts>10</max_contacts>
            </collision>
            <visual name='visual'>
              <cast_shadows>0</cast_shadows>
              <geometry>
                <plane>
                  <normal>0 0 1</normal>
                  <size>100 100</size>
                </plane>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Grey</name>
                </script>
              </material>
            </visual>
            <velocity_decay>
              <linear>0</linear>
              <angular>0</angular>
            </velocity_decay>
            <self_collide>0</self_collide>
            <kinematic>0</kinematic>
            <gravity>1</gravity>
          </link>
          <pose>0.497681 0 0 0 -0 0</pose>
        </model>
        <state world_name='default'>
          <sim_time>0 0</sim_time>
          <real_time>0 44986</real_time>
          <wall_time>1377677575 940727583</wall_time>
          <model name='Dumpster'>
            <pose>1 -3.44458 0 0 -0 0</pose>
            <link name='link'>
              <pose>1 -3.44458 0 0 -0 0</pose>
              <velocity>0 0 0 0 -0 0</velocity>
              <acceleration>0 0 0 0 -0 0</acceleration>
              <wrench>0 0 0 0 -0 0</wrench>
            </link>
          </model>
          <model name='cube_20k'>
            <pose>1.41131 -1 0 0 -0 0.9</pose>
            <link name='link'>
              <pose>1.41131 -1 0.5 0 -0 0.9</pose>
              <velocity>0 0 0 0 -0 0</velocity>
              <acceleration>0 0 0 0 -0 0</acceleration>
              <wrench>0 0 0 0 -0 0</wrench>
            </link>
          </model>
          <model name='unit_cylinder_1'>
            <pose>-2 -3.4888 0.5 0 -0 0</pose>
            <link name='link'>
              <pose>-2 -3.4888 0.5 0 -0 0</pose>
              <velocity>0 0 0 0 -0 0</velocity>
              <acceleration>0 0 0 0 -0 0</acceleration>
              <wrench>0 0 0 0 -0 0</wrench>
            </link>
          </model>
        </state>
        <gui fullscreen='0'>
          <camera name='user_camera'>
            <pose>1.33336 -0.422442 27.6101 3e-06 1.5698 3.04015</pose>
            <view_controller>orbit</view_controller>
          </camera>
        </gui>
        <model name='unit_cylinder_1'>
          <pose>-2 -3.4888 0.5 0 -0 0</pose>
          <link name='link'>
            <inertial>
              <mass>1</mass>
              <inertia>
                <ixx>1</ixx>
                <ixy>0</ixy>
                <ixz>0</ixz>
                <iyy>1</iyy>
                <iyz>0</iyz>
                <izz>1</izz>
              </inertia>
            </inertial>
            <collision name='collision'>
              <geometry>
                <cylinder>
                  <radius>0.5</radius>
                  <length>1</length>
                </cylinder>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual'>
              <geometry>
                <cylinder>
                  <radius>0.5</radius>
                  <length>1</length>
                </cylinder>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Grey</name>
                </script>
              </material>
            </visual>
            <velocity_decay>
              <linear>0</linear>
              <angular>0</angular>
            </velocity_decay>
            <self_collide>0</self_collide>
            <kinematic>0</kinematic>
            <gravity>1</gravity>
          </link>
          <static>0</static>
        </model>
        <model name='Dumpster'>
          <link name='link'>
            <collision name='collision'>
              <geometry>
                <mesh>
                  <uri>model://dumpster/meshes/dumpster.dae</uri>
                </mesh>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual'>
              <geometry>
                <mesh>
                  <uri>model://dumpster/meshes/dumpster.dae</uri>
                </mesh>
              </geometry>
              <material>
                <script>
                  <uri>model://dumpster/materials/scripts</uri>
                  <uri>model://dumpster/materials/textures</uri>
                  <name>Dumpster/Diffuse</name>
                </script>
              </material>
            </visual>
            <velocity_decay>
              <linear>0</linear>
              <angular>0</angular>
            </velocity_decay>
            <self_collide>0</self_collide>
            <inertial>
              <inertia>
                <ixx>1</ixx>
                <ixy>0</ixy>
                <ixz>0</ixz>
                <iyy>1</iyy>
                <iyz>0</iyz>
                <izz>1</izz>
              </inertia>
              <mass>1</mass>
            </inertial>
            <kinematic>0</kinematic>
            <gravity>1</gravity>
          </link>
          <pose>1 -3.44458 0 0 -0 -0.3</pose>
          <static>0</static>
        </model>
        <model name='cube_20k'>
          <link name='link'>
            <pose>0 0 0.5 0 -0 0</pose>
            <collision name='collision'>
              <geometry>
                <mesh>
                  <uri>model://cube_20k/meshes/cube_20k.stl</uri>
                  <scale>0.5 0.5 0.5</scale>
                </mesh>
              </geometry>
              <max_contacts>10</max_contacts>
              <surface>
                <bounce/>
                <friction>
                  <ode/>
                </friction>
                <contact>
                  <ode/>
                </contact>
              </surface>
            </collision>
            <visual name='visual'>
              <geometry>
                <mesh>
                  <uri>model://cube_20k/meshes/cube_20k.stl</uri>
                  <scale>0.5 0.5 0.5</scale>
                </mesh>
              </geometry>
            </visual>
            <velocity_decay>
              <linear>0</linear>
              <angular>0</angular>
            </velocity_decay>
            <self_collide>0</self_collide>
            <inertial>
              <inertia>
                <ixx>1</ixx>
                <ixy>0</ixy>
                <ixz>0</ixz>
                <iyy>1</iyy>
                <iyz>0</iyz>
                <izz>1</izz>
              </inertia>
              <mass>1</mass>
            </inertial>
            <kinematic>0</kinematic>
            <gravity>1</gravity>
          </link>
          <pose>1.41131 -1 0 0 -0 0.9</pose>
          <static>0</static>
        </model>
      </world>
    </sdf>

### 3)车体urdf建模与控制程序 ###

非常建议阅读该篇文章后再阅读下面内容

[ROS ArbotiX控制+xacro机器人仿真模型设计 实现初级建模与车体控制][ROS ArbotiX_xacro_]

或下载

urdf描述包：[https://gitee.com/alen2020/mbot\_description.git][https_gitee.com_alen2020_mbot_description.git]

车体控制包：[https://gitee.com/alen2020/mbot\_teleop.git][https_gitee.com_alen2020_mbot_teleop.git]

### 4)launch文件 ###

在加载机器人模型描述参数这里引入了功能包，若没有该功能包需要看上一节给出的链接文件，里面介绍到xacro文件的编写，或有自己的一套车体模型，则引入自己的，注意命名。

###       5)执行launch文件运行程序 ###

开启三个终端，执行下三条指令

$ roslaunch test1 view_mbot_with_camera_gazebo.launch
    $ roslaunch mbot_teleop mbot_teleop.launch
    $ rqt_image_view

在rqt\_image\_view中选择订阅/camera/image\_raw话题，移动车体，即可看到实时视图

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70][]

## 使用Gazepo 实现雷达仿真 ##

### 1)Launch文件 ###

使用雷达仿真修改launch文件即可，前提是有车体urdf建模这个包，我在上一节给出

与摄像头不同的是xacro的引入文件

### 2) 执行 ###

开启三个终端，执行下三条指令

$ roslaunch test1 view_mbot_with_laser_gazebo.launch
    $ roslaunch mbot_teleop mbot_teleop.launch
    $ rviz

可以看到单线激光雷达的点云数据，控制车体移动，点云数据实时变动

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70 1][]

## 使用Gazepo 实现Kinect仿真 ##

### 1）launch文件 ###

使用Kinect仿真修改launch文件即可，前提是有车体urdf建模这个包，我在第一节给出

与摄像头和激光雷达不同的是xacro的引入文件

### 2）执行 ###

$ roslaunch test1 view_mbot_with_laser_gazebo.launch
    $ roslaunch mbot_teleop mbot_teleop.launch
    $ rqt_image_view
    $ rviz

kinect既可以看到点云数据，也可以看到摄像头信息，相对于激光雷达来说，Kinect的点云扫射访问很窄（通常不超过180度）

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70 2][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70 3][]

[ROS ArbotiX_xacro_]: https://blog.csdn.net/ck784101777/article/details/106732325
[https_gitee.com_alen2020_mbot_description.git]: https://gitee.com/alen2020/mbot_description.git
[https_gitee.com_alen2020_mbot_teleop.git]: https://gitee.com/alen2020/mbot_teleop.git
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20200614225539955.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20200617235030478.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70 2]: https://img-blog.csdnimg.cn/20200618234730931.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70 3]: https://img-blog.csdnimg.cn/2020061823485325.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3,size_16,color_FFFFFF,t_70