ROS实现小车模型功能（附文件源码，包成功）

二话不说，直接上源码：

在工作空间下创建一个mycar.urdf文件

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

    <link name="base_footprint">
        <visual>
            <geometry>
               <cylinder radius="0.0001" length="0.0001"/>
            </geometry>
        </visual>
    </link>

    <link name="base_link">
        <visual>
            <geometry>
               <cylinder radius="0.1" length="0.08"/>
            </geometry>
            <material name="yellow">
            <color rgba='0.6 0.4 0.4 0.5'/>
            </material>
        </visual>
    </link>

<joint name="base_link2base_footprint" type="fixed">

    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.015" rpy="0.0 0.0 0.0"/>
    
</joint>

<link name="right_wheel">
  <visual>
            <geometry>
               <cylinder radius="0.035" length="0.015"/>
            </geometry>
            <material name="black">
            <color rgba='0 0 0 1'/>
            </material>
        </visual>
</link>

<joint name="right_wheel2base_footprint" type="continuous">

    <parent link="base_link"/>
    <child link="right_wheel"/>
    <origin xyz="0.0 -0.1 -0.0225" rpy="1.57 0.0 0.0"/>
</joint>

<link name="left_wheel">
  <visual>
            <geometry>
               <cylinder radius="0.035" length="0.015"/>
            </geometry>
            <material name="black">
            <color rgba='0 0 0 1'/>
            </material>
        </visual>
</link>

<joint name="left_wheel2base_footprint" type="continuous">

    <parent link="base_link"/>
    <child link="left_wheel"/>
    <origin xyz="0.0 0.1 -0.0225" rpy="1.57 0.0 0.0"/>
</joint>

<link name="back_wheel">
      <visual>
            <geometry>
               <cylinder radius="0.035" length="0.015"/>
            </geometry>
            <material name="black">
            <color rgba='0 0 0 1'/>
            </material>
        </visual>
</link>

<joint name="back_wheel2base_footprint" type="continuous">

    <parent link="base_link"/>
    <child link="back_wheel"/>
    <axis xyz="1 1 1"/>
    <origin xyz="-0.0925 0 -0.0475" rpy="1.57 0.0 0.0"/>
</joint>

<link name="front_wheel">
      <visual>
            <geometry>
               <cylinder radius="0.035" length="0.015"/>
            </geometry>
            <material name="black">
            <color rgba='0 0 0 1'/>
            </material>
        </visual>
</link>

<joint name="front_wheel2base_footprint" type="continuous">

    <parent link="base_link"/>
    <child link="front_wheel"/>
    <axis xyz="1 1 1"/>
    <origin xyz="0.0925 0 -0.0475" rpy="1.57 0.0 0.0"/>
</joint>

</robot>

在工作空间下创建一个mycar.launch文件，代码如下

<?xml version="1.0"?>
<launch>

    <param name="robot_description" textfile="$(find urdf_demo)/urdf/mycar.urdf"/>

    <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find urdf_demo)/config/mycar.rviz"/>
       
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
    
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>

</launch>

保存后在ros终端运行输入以下命令运行launch：roslaunch urdf_demo mycar.launch

1.把map换成base_footprint,之后在下面ADD下添加RobotModel,就会出现小车模型了

二.或者也可以在VS code上运行，下一章节会说