搭建环境：XMWare Ubuntu14.04 ROS（indigo）
转载自古月居 转载连接：http://www.guyuehome.com/248
一、模型完善
文件夹urdf下，创建gazebo.urdf.xacro、smartcar.urdf.xacro、smartcar_body.urdf.xacro三个文件
1、机器人主体smartcar_body.urdf.xacro文件
1 <?xml version="1.0"?> 2 <robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro"> 3 <property name="M_PI" value="3.14159"/> 4 5 <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect --> 6 <include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/> 7 8 <property name="base_x" value="0.33" /> 9 <property name="base_y" value="0.33" /> 10 11 <xacro:macro name="smartcar_body"> 12 13 14 <link name="base_link"> 15 <inertial> 16 <origin xyz="0 0 0.055"/> 17 <mass value="1.0" /> 18 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 19 </inertial> 20 <visual> 21 <geometry> 22 <box size="0.25 .16 .05"/> 23 </geometry> 24 <origin rpy="0 0 0" xyz="0 0 0.055"/> 25 <material name="blue"> 26 <color rgba="0 0 .8 1"/> 27 </material> 28 </visual> 29 <collision> 30 <origin rpy="0 0 0" xyz="0 0 0.055"/> 31 <geometry> 32 <box size="0.25 .16 .05" /> 33 </geometry> 34 </collision> 35 </link> 36 37 38 <link name="left_front_wheel"> 39 <inertial> 40 <origin xyz="0.08 0.08 0.025"/> 41 <mass value="0.1" /> 42 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 43 </inertial> 44 <visual> 45 <geometry> 46 <cylinder length=".02" radius="0.025"/> 47 </geometry> 48 <material name="black"> 49 <color rgba="0 0 0 1"/> 50 </material> 51 </visual> 52 <collision> 53 <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/> 54 <geometry> 55 <cylinder length=".02" radius="0.025"/> 56 </geometry> 57 </collision> 58 </link> 59 60 <joint name="left_front_wheel_joint" type="continuous"> 61 <axis xyz="0 0 1"/> 62 <parent link="base_link"/> 63 <child link="left_front_wheel"/> 64 <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/> 65 <limit effort="100" velocity="100"/> 66 <joint_properties damping="0.0" friction="0.0"/> 67 </joint> 68 69 <link name="right_front_wheel"> 70 <inertial> 71 <origin xyz="0.08 -0.08 0.025"/> 72 <mass value="0.1" /> 73 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 74 </inertial> 75 <visual> 76 <geometry> 77 <cylinder length=".02" radius="0.025"/> 78 </geometry> 79 <material name="black"> 80 <color rgba="0 0 0 1"/> 81 </material> 82 </visual> 83 <collision> 84 <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/> 85 <geometry> 86 <cylinder length=".02" radius="0.025"/> 87 </geometry> 88 </collision> 89 </link> 90 91 <joint name="right_front_wheel_joint" type="continuous"> 92 <axis xyz="0 0 1"/> 93 <parent link="base_link"/> 94 <child link="right_front_wheel"/> 95 <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/> 96 <limit effort="100" velocity="100"/> 97 <joint_properties damping="0.0" friction="0.0"/> 98 </joint> 99 100 <link name="left_back_wheel"> 101 <inertial> 102 <origin xyz="-0.08 0.08 0.025"/> 103 <mass value="0.1" /> 104 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 105 </inertial> 106 <visual> 107 <geometry> 108 <cylinder length=".02" radius="0.025"/> 109 </geometry> 110 <material name="black"> 111 <color rgba="0 0 0 1"/> 112 </material> 113 </visual> 114 <collision> 115 <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/> 116 <geometry> 117 <cylinder length=".02" radius="0.025"/> 118 </geometry> 119 </collision> 120 </link> 121 122 <joint name="left_back_wheel_joint" type="continuous"> 123 <axis xyz="0 0 1"/> 124 <parent link="base_link"/> 125 <child link="left_back_wheel"/> 126 <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/> 127 <limit effort="100" velocity="100"/> 128 <joint_properties damping="0.0" friction="0.0"/> 129 </joint> 130 131 <link name="right_back_wheel"> 132 <inertial> 133 <origin xyz="-0.08 -0.08 0.025"/> 134 <mass value="0.1" /> 135 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 136 </inertial> 137 <visual> 138 <geometry> 139 <cylinder length=".02" radius="0.025"/> 140 </geometry> 141 <material name="black"> 142 <color rgba="0 0 0 1"/> 143 </material> 144 </visual> 145 <collision> 146 <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/> 147 <geometry> 148 <cylinder length=".02" radius="0.025"/> 149 </geometry> 150 </collision> 151 </link> 152 153 154 <joint name="right_back_wheel_joint" type="continuous"> 155 <axis xyz="0 0 1"/> 156 <parent link="base_link"/> 157 <child link="right_back_wheel"/> 158 <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/> 159 <limit effort="100" velocity="100"/> 160 <joint_properties damping="0.0" friction="0.0"/> 161 </joint> 162 163 <link name="head"> 164 <inertial> 165 <origin xyz="0.08 0 0.08"/> 166 <mass value="0.1" /> 167 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 168 </inertial> 169 <visual> 170 <geometry> 171 <box size=".02 .03 .03"/> 172 </geometry> 173 <material name="white"> 174 <color rgba="1 1 1 1"/> 175 </material> 176 </visual> 177 <collision> 178 <origin xyz="0.08 0 0.08"/> 179 <geometry> 180 <cylinder length=".02" radius="0.025"/> 181 </geometry> 182 </collision> 183 </link> 184 185 <joint name="tobox" type="fixed"> 186 <parent link="base_link"/> 187 <child link="head"/> 188 <origin xyz="0.08 0 0.08"/> 189 </joint> 190 </xacro:macro> 191 192 </robot>
2、gazebo属性部分gazebo.urdf.xacro
1 <?xml version="1.0"?> 2 3 <robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" 4 xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 5 xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 6 xmlns:xacro="http://ros.org/wiki/xacro" 7 name="smartcar_gazebo"> 8 9 <!-- ASUS Xtion PRO camera for simulation --> 10 <!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package --> 11 <xacro:macro name="smartcar_sim"> 12 <gazebo reference="base_link"> 13 <material>Gazebo/Blue</material> 14 </gazebo> 15 16 <gazebo reference="right_front_wheel"> 17 <material>Gazebo/FlatBlack</material> 18 </gazebo> 19 20 <gazebo reference="right_back_wheel"> 21 <material>Gazebo/FlatBlack</material> 22 </gazebo> 23 24 <gazebo reference="left_front_wheel"> 25 <material>Gazebo/FlatBlack</material> 26 </gazebo> 27 28 <gazebo reference="left_back_wheel"> 29 <material>Gazebo/FlatBlack</material> 30 </gazebo> 31 32 <gazebo reference="head"> 33 <material>Gazebo/White</material> 34 </gazebo> 35 36 </xacro:macro> 37 38 </robot>
3、主文件smartcar.urdf.xacro
1 <?xml version="1.0"?> 2 3 <robot name="smartcar" 4 xmlns:xi="http://www.w3.org/2001/XInclude" 5 xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" 6 xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" 7 xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 8 xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" 9 xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" 10 xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" 11 xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" 12 13 xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 14 xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" 15 xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" 16 17 xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" 18 xmlns:xacro="http://ros.org/wiki/xacro"> 19 20 <include filename="$(find smartcar_description)/urdf/smartcar_body.urdf.xacro" /> 21 22 <!-- Body of SmartCar, with plates, standoffs and Create (including sim sensors) --> 23 <smartcar_body/> 24 25 <smartcar_sim/> 26 27 </robot>
二、lanuch文件
在launch文件创建smartcar_display.rviz.launch文件（touch smartcar_display.rviz.launch）。（注：最后一行(find smartcar_description)/urdf.vcg"改为(find smartcar_description)/urdf.rviz"）
1 <launch> 2 <param name="/use_sim_time" value="false" /> 3 4 <!-- Load the URDF/Xacro model of our robot --> 5 <arg name="urdf_file" default="$(find xacro)/xacro.py ‘$(find smartcar_description)/urdf/smartcar.urdf.xacro‘" /> 6 <arg name="gui" default="false" /> 7 8 <param name="robot_description" command="$(arg urdf_file)" /> 9 <param name="use_gui" value="$(arg gui)"/> 10 11 <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen"><!--type="driver.py"--> 12 <rosparam command="delete" param="/arbotix" /> 13 <rosparam file="$(find smartcar_description)/config/smartcar_arbotix.yaml" command="load" /> 14 <param name="sim" value="true"/> 15 </node> 16 17 <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" > 18 </node> 19 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"> 20 <param name="publish_frequency" type="double" value="20.0" /> 21 </node> 22 23 <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" /> 24 <node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" /> 25 26 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/urdf.rviz" /> 27 </launch>
三、创建config文件夹
在文件中创建smartcar_arbotix.yaml文件
1 port: /dev/ttyUSB0
2 baud: 115200
3 rate: 20
4 sync_write: True
5 sync_read: True
6 read_rate: 20
7 write_rate: 20
8
9 controllers: {
10 # Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
11 base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
12 }
四、创建urdf.rviz文件
urdf.rviz文件代码如下：
1 Panels: 2 - Class: rviz/Displays 3 Help Height: 78 4 Name: Displays 5 Property Tree Widget: 6 Expanded: 7 - /Global Options1 8 - /Status1 9 - /Odometry1 10 Splitter Ratio: 0.652661 11 Tree Height: 422 12 - Class: rviz/Selection 13 Name: Selection 14 - Class: rviz/Tool Properties 15 Expanded: 16 - /2D Pose Estimate1 17 - /2D Nav Goal1 18 Name: Tool Properties 19 Splitter Ratio: 0.588679 20 - Class: rviz/Views 21 Expanded: 22 - /Current View1 23 Name: Views 24 Splitter Ratio: 0.5 25 - Class: rviz/Time 26 Name: Time 27 Visualization Manager: 28 Class: "" 29 Displays: 30 - Alpha: 0.5 31 Cell Size: 0.5 32 Class: rviz/Grid 33 Color: 160; 160; 164 34 Enabled: true 35 Line Style: 36 Line Width: 0.03 37 Value: Lines 38 Name: Grid 39 Normal Cell Count: 0 40 Offset: 41 X: 0 42 Y: 0 43 Z: 0 44 Plane: XY 45 Plane Cell Count: 20 46 Reference Frame: /odom 47 Value: true 48 - Angle Tolerance: 0.05 49 Class: rviz/Odometry 50 Color: 221; 200; 14 51 Enabled: true 52 Keep: 100 53 Length: 0.6 54 Name: Odometry 55 Position Tolerance: 0.1 56 Topic: /odom 57 Value: true 58 - Angle Tolerance: 0.1 59 Class: rviz/Odometry 60 Color: 253; 124; 0 61 Enabled: false 62 Keep: 100 63 Length: 0.6 64 Name: Odometry EKF 65 Position Tolerance: 0.1 66 Topic: /odom 67 Value: false 68 - Alpha: 1 69 Class: rviz/RobotModel 70 Collision Enabled: false 71 Enabled: true 72 Links: 73 base_footprint: 74 Alpha: 1 75 Show Axes: false 76 Show Trail: false 77 Value: true 78 base_link: 79 Alpha: 1 80 Show Axes: false 81 Show Trail: false 82 Value: true 83 camera_link: 84 Alpha: 1 85 Show Axes: false 86 Show Trail: false 87 Value: true 88 front_wheel_link: 89 Alpha: 1 90 Show Axes: false 91 Show Trail: false 92 Value: true 93 laser: 94 Alpha: 1 95 Show Axes: false 96 Show Trail: false 97 Value: true 98 left_wheel_link: 99 Alpha: 1 100 Show Axes: false 101 Show Trail: false 102 Value: true 103 plate_0_link: 104 Alpha: 1 105 Show Axes: false 106 Show Trail: false 107 Value: true 108 plate_1_link: 109 Alpha: 1 110 Show Axes: false 111 Show Trail: false 112 Value: true 113 plate_2_link: 114 Alpha: 1 115 Show Axes: false 116 Show Trail: false 117 Value: true 118 plate_3_link: 119 Alpha: 1 120 Show Axes: false 121 Show Trail: false 122 Value: true 123 rear_wheel_link: 124 Alpha: 1 125 Show Axes: false 126 Show Trail: false 127 Value: true 128 right_wheel_link: 129 Alpha: 1 130 Show Axes: false 131 Show Trail: false 132 Value: true 133 spacer_0_link: 134 Alpha: 1 135 Show Axes: false 136 Show Trail: false 137 Value: true 138 spacer_1_link: 139 Alpha: 1 140 Show Axes: false 141 Show Trail: false 142 Value: true 143 spacer_2_link: 144 Alpha: 1 145 Show Axes: false 146 Show Trail: false 147 Value: true 148 spacer_3_link: 149 Alpha: 1 150 Show Axes: false 151 Show Trail: false 152 Value: true 153 standoff_2in_0_link: 154 Alpha: 1 155 Show Axes: false 156 Show Trail: false 157 Value: true 158 standoff_2in_1_link: 159 Alpha: 1 160 Show Axes: false 161 Show Trail: false 162 Value: true 163 standoff_2in_2_link: 164 Alpha: 1 165 Show Axes: false 166 Show Trail: false 167 Value: true 168 standoff_2in_3_link: 169 Alpha: 1 170 Show Axes: false 171 Show Trail: false 172 Value: true 173 standoff_2in_4_link: 174 Alpha: 1 175 Show Axes: false 176 Show Trail: false 177 Value: true 178 standoff_2in_5_link: 179 Alpha: 1 180 Show Axes: false 181 Show Trail: false 182 Value: true 183 standoff_2in_6_link: 184 Alpha: 1 185 Show Axes: false 186 Show Trail: false 187 Value: true 188 standoff_2in_7_link: 189 Alpha: 1 190 Show Axes: false 191 Show Trail: false 192 Value: true 193 standoff_8in_0_link: 194 Alpha: 1 195 Show Axes: false 196 Show Trail: false 197 Value: true 198 standoff_8in_1_link: 199 Alpha: 1 200 Show Axes: false 201 Show Trail: false 202 Value: true 203 standoff_8in_2_link: 204 Alpha: 1 205 Show Axes: false 206 Show Trail: false 207 Value: true 208 standoff_8in_3_link: 209 Alpha: 1 210 Show Axes: false 211 Show Trail: false 212 Value: true 213 standoff_kinect_0_link: 214 Alpha: 1 215 Show Axes: false 216 Show Trail: false 217 Value: true 218 standoff_kinect_1_link: 219 Alpha: 1 220 Show Axes: false 221 Show Trail: false 222 Value: true 223 Name: RobotModel 224 Robot Description: robot_description 225 TF Prefix: "" 226 Update Interval: 0 227 Value: true 228 Visual Enabled: true 229 Enabled: true 230 Global Options: 231 Background Color: 31; 31; 31 232 Fixed Frame: /odom 233 Name: root 234 Tools: 235 - Class: rviz/MoveCamera 236 - Class: rviz/Interact 237 - Class: rviz/Select 238 - Class: rviz/SetInitialPose 239 Topic: /initialpose 240 - Class: rviz/SetGoal 241 Topic: /move_base_simple/goal 242 Value: true 243 Views: 244 Current: 245 Angle: -1.57 246 Class: rviz/Orbit 247 Name: Current View 248 Near Clip Distance: 0.01 249 Scale: 178.742 250 Target Frame: <Fixed Frame> 251 Value: Orbit (rviz) 252 X: 0.731489 253 Y: 0.520369 254 Saved: ~ 255 Window Geometry: 256 Displays: 257 collapsed: false 258 Height: 696 259 Hide Left Dock: false 260 Hide Right Dock: false 261 QMainWindow State: 000000ff00000000fd00000004000000000000012d00000235fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000235000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002bf00fffffffb0000000800540069006d00650100000000000004500000000000000000000002890000023500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 262 Selection: 263 collapsed: false 264 Time: 265 collapsed: false 266 Tool Properties: 267 collapsed: false 268 Views: 269 collapsed: false 270 Width: 972 271 X: 772 272 Y: 332
五、仿真测试
首先运行lanuch，既可以看到rviz中的机器人：
roslaunch smartcar_description smartcar_display.rviz.launch
时间： 2024-10-11 21:55:11