ROS专题----机器人模型urdf简明笔记

最新推荐文章于 2024-04-20 10:41:06 发布

zhangrelay

最新推荐文章于 2024-04-20 10:41:06 发布

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分类专栏： ROS_kinetic机器人操作系统 ROS_indigo机器人操作系统机器人仿真 ROS机器人程序设计（第2版）补充 ROS indigo 学习笔记 ROS Kinetic 学习笔记

本文链接：https://blog.csdn.net/ZhangRelay/article/details/60959642

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----ROS机器人模型urdf简明笔记----

ROS库--URDF

使用URDF从头开始构建可视机器人模型
了解如何构建一个可以在Rviz中查看的机器人的视觉模型
使用URDF构建可移动机器人模型
了解如何在URDF中定义活动关节
向URDF模型添加物理和冲突属性
了解如何向链接添加碰撞和惯性属性，以及如何为关节添加关节动力学。
使用Xacro清理URDF文件
学习一些技巧，以减少使用Xacro URDF文件中的代码量

----

全部源码：http://download.csdn.net/detail/zhangrelay/9775629

1 简单的几何形状

这里包括形状，大小，位置，角度和材质等。以下面代码为例，简单介绍一下：

<?xml version="1.0"?>
<robot name="visual">

  <material name="red">
    <color rgba="0.8 0 0 1"/>
  </material>  
  <material name="green">
    <color rgba="0 0.8 0 1"/>
  </material>
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="black">
    <color rgba="0 0 0 1"/>
  </material>
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>

  <link name="right_leg">
    <visual>
      <geometry>
        <box size="0.6 .1 .2"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="blue"/>
    </visual>
  </link>

  <joint name="base_to_right_leg" type="fixed">
    <parent link="base_link"/>
    <child link="right_leg"/>
    <origin xyz="0 -0.22 .25"/>
  </joint>

  <link name="right_base">
    <visual>
      <geometry>
        <box size="0.4 .1 .1"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>

  <joint name="right_base_joint" type="fixed">
    <parent link="right_leg"/>
    <child link="right_base"/>
    <origin xyz="0 0 -0.6"/>
  </joint>

  <link name="right_front_wheel">
    <visual>
      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1" radius="0.035"/>
      </geometry>
      <material name="black"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
  </link>
  <joint name="right_front_wheel_joint" type="fixed">
    <axis rpy="0 0 0" xyz="0 1 0"/>
    <parent link="right_base"/>
    <child link="right_front_wheel"/>
    <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
  </joint>

...............

  <link name="head">
    <visual>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>
  <joint name="head_swivel" type="fixed">
    <parent link="base_link"/>
    <child link="head"/>
    <origin xyz="0 0 0.3"/>
  </joint>

  <link name="box">
    <visual>
      <geometry>
        <box size=".08 .08 .08"/>
      </geometry>
      <material name="green"/>
    </visual>
  </link>

  <joint name="tobox" type="fixed">
    <parent link="head"/>
    <child link="box"/>
    <origin xyz="0.1814 0 0.1414"/>
  </joint>
</robot>

----

其中，geometry中包含形状和大小，如cylinder box，大小依据形状不同采用不同表示，如length radius size等；

原点是origin；相对于该点的位置和角度分别用xyz rpy表示；parent link是父节点，child link是子节点。fixed frame固定坐标；

当然，还有颜色等其他配置属性。

使用下面命令查看效果，注意model路径：

roslaunch urdf_tutorial display.launch model:=/home/relaybot/ROS_tutorial/src/urdf_tutorial-kinetic/urdf/05-visual.urdf

----

2 由静到动让模型运动起来

这里只需要注意一个要点，就是关节joint，上节一般是fixed，这里可以有continuous，revolute，prismatic。

还需要补充的是robot_state_publisher和joint_state_publisher。分别如下图所示：

运行下面命令，注意模型路径：

roslaunch urdf_tutorial display.launch model:=/home/relaybot/ROS_tutorial/src/urdf_tutorial-kinetic/urdf/06-flexible.urdf gui:=True

----

3 添加物理和碰撞属性

需要注意亮点即可，碰撞collision，物理inertial。

  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

----

roslaunch urdf_tutorial display.launch model:=/home/relaybot/ROS_tutorial/src/urdf_tutorial-kinetic/urdf/07-physics.urdf

----

4 使用xacro简化urdf文件

这里给出两个参考网址：xacro和在urdf中使用xacro。

roslaunch urdf_tutorial display.launch model:=/home/relaybot/ROS_tutorial/src/urdf_tutorial-kinetic/urdf/08-macroed.urdf.xacro

----

5 在Gazebo中使用urdf

参考网址：http://gazebosim.org/tutorials?tut=ros_urdf

完成配置后，启动命令：

roslaunch urdf_tutorial gazebo.launch

----

6 rviz和Gazebo中实现同步控制

运行下面命令：

roslaunch urdf_tutorial control.launch

----

附录：

TF：

Graph：

display.launch

<launch>

  <arg name="model" default="$(find urdf_tutorial)/urdf/r2d2.xacro"/>
  <arg name="gui" default="true" />
  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />

  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
  <param name="use_gui" value="$(arg gui)"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

</launch>

gazebo.launch

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="model" default="$(find urdf_tutorial)/urdf/r2d2.xacro"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        args="-z 1.0 -unpause -urdf -model robot -param robot_description" respawn="false" output="screen" />

  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

</launch>

control.launch

<launch>

  <arg name="model" default="$(find urdf_tutorial)/urdf/r2d2.xacro"/>
  <arg name="rvizconfig" default="$(find urdf_tutorial)/urdf.rviz" />

  <include file="$(find urdf_tutorial)/launch/gazebo.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" />

  <!-- This param file is where any environment-agnostic (live or simulation)
  configuration should be loaded, including controllers -->
  <rosparam command="load" file="$(find urdf_tutorial)/config/control.yaml" />

  <!-- This node loads the two controllers into a controller manager (real or simulated). The
  controllers are defined in config/control.yaml -->
  <node name="r2d2_controller_spawner" pkg="controller_manager" type="spawner"
    args="r2d2_joint_state_controller
          r2d2_diff_drive_controller
          r2d2_head_controller
          r2d2_gripper_controller
          --shutdown-timeout 3"/>

  <node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">

    <param name="default_topic" value="/r2d2_diff_drive_controller/cmd_vel"/>
  </node>

</launch>

r2d2.xacro

<?xml version="1.0"?>
<robot name="r2d2" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:property name="width" value=".2" />
  <xacro:property name="leglen" value=".6" />
  <xacro:property name="polelen" value=".2" />
  <xacro:property name="bodylen" value=".6" />
  <xacro:property name="baselen" value=".4" />
  <xacro:property name="wheeldiam" value=".07" />
  <xacro:property name="pi" value="3.1415" />

  <material name="red">
    <color rgba="0.8 0 0 1"/>
  </material>  
  <material name="green">
    <color rgba="0 0.8 0 1"/>
  </material>
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="black">
    <color rgba="0 0 0 1"/>
  </material>
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <xacro:macro name="default_inertial" params="mass">
    <inertial>
      <mass value="${mass}" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
  </xacro:macro>

  <link name="base_link">
    <visual>
      <geometry>
        <cylinder radius="${width}" length="${bodylen}"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <geometry>
        <cylinder radius="${width}" length="${bodylen}"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="10"/>
  </link>
    <!-- This block provides the simulator (Gazebo) with information on a few additional
    physical properties. See http://gazebosim.org/tutorials/?tut=ros_urdf for more-->
    <gazebo reference="base_link">
      <material>Gazebo/Red</material>
    </gazebo>

  <xacro:macro name="wheel" params="prefix suffix reflect">

    <link name="${prefix}_${suffix}_wheel">
      <visual>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
        <geometry>
          <cylinder radius="${wheeldiam/2}" length="0.1"/>
        </geometry>
        <material name="black"/>
        <origin xyz="0 0 0" rpy="0 0 0" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
        <geometry>
          <cylinder radius="${wheeldiam/2}" length="0.1"/>
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
      </collision>
      <xacro:default_inertial mass="1"/>
    </link>
    <joint name="${prefix}_${suffix}_wheel_joint" type="continuous">
      <axis xyz="0 1 0" rpy="0 0 0" />
      <parent link="${prefix}_base"/>
      <child link="${prefix}_${suffix}_wheel"/>
      <origin xyz="${baselen*reflect/3} 0 -${wheeldiam/2+.05}" rpy="0 0 0"/>
    </joint>

    <!-- This block provides the simulator (Gazebo) with information on a few additional
    physical properties. See http://gazebosim.org/tutorials/?tut=ros_urdf for more-->
    <gazebo reference="${prefix}_${suffix}_wheel">
      <mu1 value="200.0"/>
      <mu2 value="100.0"/>
      <kp value="10000000.0" />
      <kd value="1.0" />
      <material>Gazebo/Black</material>
    </gazebo>

    <!-- This block connects the wheel joint to an actuator (motor), which informs both
    simulation and visualization of the robot -->
    <transmission name="${prefix}_${suffix}_wheel_trans" type="SimpleTransmission">
      <type>transmission_interface/SimpleTransmission</type>
      <actuator name="${prefix}_${suffix}_wheel_motor">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      <joint name="${prefix}_${suffix}_wheel_joint">
        <hardwareInterface>VelocityJointInterface</hardwareInterface>
      </joint>
    </transmission>

  </xacro:macro>

  <xacro:macro name="leg" params="prefix reflect">
    <link name="${prefix}_leg">
      <visual>
        <geometry>
          <box size="${leglen} .1 .2"/>
        </geometry>
        <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
        <material name="blue"/>
      </visual>
      <collision>
        <geometry>
          <box size="${leglen} .1 .2"/>
        </geometry>
        <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
      </collision>
      <xacro:default_inertial mass="10"/>
    </link>
    <!-- This block provides the simulator (Gazebo) with information on a few additional
    physical properties. See http://gazebosim.org/tutorials/?tut=ros_urdf for more-->
    <gazebo reference="${prefix}_leg">
      <material>Gazebo/Blue</material>
    </gazebo>

    <joint name="base_to_${prefix}_leg" type="fixed">
      <parent link="base_link"/>
      <child link="${prefix}_leg"/>
      <origin xyz="0 ${reflect*(width+.02)} .25" />
    </joint>

    <link name="${prefix}_base">
      <visual>
        <geometry>
          <box size="${baselen} .1 .1"/>
        </geometry>
        <material name="white"/>
      </visual>
      <collision>
        <geometry>
          <box size="${baselen} .1 .1"/>
        </geometry>
      </collision>
      <xacro:default_inertial mass="10"/>
    </link>

    <joint name="${prefix}_base_joint" type="fixed">
      <parent link="${prefix}_leg"/>
      <child link="${prefix}_base"/>
      <origin xyz="0 0 ${-leglen}" />
    </joint>
    <xacro:wheel prefix="${prefix}" suffix="front" reflect="1"/>
    <xacro:wheel prefix="${prefix}" suffix="back" reflect="-1"/>
  </xacro:macro>
  <xacro:leg prefix="right" reflect="-1" />
  <xacro:leg prefix="left" reflect="1" />

  <joint name="gripper_extension" type="prismatic">
    <parent link="base_link"/>
    <child link="gripper_pole"/>
    <limit effort="1000.0" lower="-${width*2-.02}" upper="0" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="${width-.01} 0 .2"/>
    <limit effort="30" velocity="0.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  <link name="gripper_pole">
    <visual>
      <geometry>
        <cylinder length="${polelen}" radius=".01"/>
      </geometry>
      <origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="${polelen}" radius=".01"/>
      </geometry>
      <origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
    </collision>
    <xacro:default_inertial mass=".05"/>
  </link>

  <transmission name="gripper_extension_trans" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="gripper_extension_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="gripper_extension">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <xacro:macro name="gripper" params="prefix reflect">
    <joint name="${prefix}_gripper_joint" type="revolute">
      <axis xyz="0 0 ${reflect}"/>
      <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
      <origin rpy="0 0 0" xyz="${polelen} ${reflect*0.01} 0"/>
      <parent link="gripper_pole"/>
      <child link="${prefix}_gripper"/>
      <limit effort="30" velocity="1.0"/>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="${prefix}_gripper">
      <visual>
        <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
        </geometry>
        <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/>
      </collision>
      <xacro:default_inertial mass=".05"/>
    </link>
    <transmission name="${prefix}_gripper_trans" type="SimpleTransmission">
      <type>transmission_interface/SimpleTransmission</type>
      <actuator name="${prefix}_gripper_motor">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      <joint name="${prefix}_gripper_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
    </transmission>

    <joint name="${prefix}_tip_joint" type="fixed">
      <parent link="${prefix}_gripper"/>
      <child link="${prefix}_tip"/>
    </joint>
    <link name="${prefix}_tip">
      <visual>
        <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/>
        <geometry>
          <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
        </geometry>
        <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/>
      </collision>
      <xacro:default_inertial mass=".05"/>
    </link>
  </xacro:macro>

  <xacro:gripper prefix="left" reflect="1" />
  <xacro:gripper prefix="right" reflect="-1" />

  <link name="head">
    <visual>
      <geometry>
        <sphere radius="${width}"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="${width}"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="2"/>
  </link>

  <joint name="head_swivel" type="continuous">
    <parent link="base_link"/>
    <child link="head"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0 0 ${bodylen/2}"/>
    <limit effort="30" velocity="1.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
    <!-- This block provides the simulator (Gazebo) with information on a few additional
    physical properties. See http://gazebosim.org/tutorials/?tut=ros_urdf for more-->
    <gazebo reference="head">
      <material>Gazebo/Orange</material>
    </gazebo>
  <!-- This block connects the head_swivel joint to an actuator (motor), which informs both
  simulation and visualization of the robot -->
  <transmission name="head_swivel_trans" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="$head_swivel_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="head_swivel">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <link name="box">
    <visual>
      <geometry>
        <box size=".08 .08 .08"/>
      </geometry>
      <material name="blue"/>
      <origin xyz="-0.04 0 0"/>
    </visual>
    <collision>
      <geometry>
        <box size=".08 .08 .08"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="1"/>
  </link>

  <joint name="tobox" type="fixed">
    <parent link="head"/>
    <child link="box"/>
    <origin xyz="${.707*width+0.04} 0 ${.707*width}"/>
  </joint>

  <!-- Gazebo plugin for ROS Control -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>

</robot>

补充链接与资料：

1urdf http://wiki.ros.org/urdf

2xacro http://wiki.ros.org/xacro

----

End

----

zhangrelay

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ROS专题----机器人模型urdf简明笔记

----ROS机器人模型urdf简明笔记----ROS库--URDF使用URDF从头开始构建可视机器人模型了解如何构建一个可以在Rviz中查看的机器人的视觉模型使用URDF构建可移动机器人模型了解如何在URDF中定义活动关节向URDF模型添加物理和冲突属性了解如何向链接添加碰撞和惯性属性，以及如何为关节添加关节动力学。使用Xacro清理URDF文件学习一些技巧，以减少使用Xacro URDF文件中
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