在Gazebo中进行仿真自己的机器人

请大家完成之前的博客内容

                                 1.ROS：新建xacro形式的模型，在rviz中显示模型（手把手！）

                                  2.在自己的xacro模型的基础上加入常见传感器在rviz中显示

新建一个功能包myrobot_ga

因为我们已经手把手进行了之前的内容学习得到自己的myrobot功能包

那么我们可以直接进行复制粘贴的方式进行创建新的myrobot_ga功能包

1.复制粘贴myrobot功能包并重命名为myrobot_ga

2.对myrobot_ga的mainpage.dox，manifest.xml文件进行修改

修改mainpage.dox

修改mainfest.xml

3.设置myrobot_ga的环境路径

进入~（/home/xxx（用户名））目录下，找到.bashrc文件

打开并添加你的myrobot_ga的环境路径

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/nzh（自己修自己的工作空间位置）/src/myrobot_ga

注意哦！这里的nzh是你的工作空间文件夹名称！自己修改成自己的哦！

source ~/.bashrc

记得重新启动一下进而加载.bashrc文件

4.修改urdf文件中的robot1_base.xacro（基础机器人）

修改robot1_base.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
      xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
      name="robot0">
    
    <xacro:property name="length_wheel" value="0.05" />
    <xacro:property name="radius_wheel" value="0.05" />
    <xacro:property name="base_link_radius" value="0.1" />

    <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>
        <collision>
            <geometry>
                <box size="0.001 0.001 0.001"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.0001"/> 
            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
        </inertial>
        <gazebo reference="base_footprint">
            <material>Gazebo/Green</material>
            <turnGravityOff>false</turnGravityOff>
        </gazebo>
    </link>

    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.2 0.3 0.1"/>
            </geometry>
            <origin rpy="0 0 1.54" xyz="0 0 0.05"/>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <box size="0.2 0.3 0.1"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="10"/> 
            <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
        </inertial>
        <gazebo reference="base_link">
            <material>Gazebo/White</material>
        </gazebo>
    </link>

    <joint name="base_footprint_joint" type="fixed">
        <origin xyz="0 0 0"/>
        <parent link="base_link"/>
        <child link="base_footprint"/>
    </joint>

    <link name="wheel_1">
        <visual>
            <geometry>
                <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
            <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>
        <inertial>
            <mass value="1"/> 
            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
        </inertial>
        <gazebo reference="wheel_1">
            <material>Gazebo/Black</material>
        </gazebo>
    </link>

    <link name="wheel_2">
        <visual>
            <geometry>
                <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
            <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>
        <inertial>
            <mass value="1"/> 
            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
        </inertial>
        <gazebo reference="wheel_2">
            <material>Gazebo/Black</material>
        </gazebo>
    </link>

    <link name="wheel_3">
        <visual>
            <geometry>
                <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
            <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>
        <inertial>
            <mass value="1"/> 
            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
        </inertial>
        <gazebo reference="wheel_3">
            <material>Gazebo/Black</material>
        </gazebo>
    </link>

    <link name="wheel_4">
        <visual>
            <geometry>
                <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
            <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>
        <inertial>
            <mass value="1"/> 
            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
        </inertial>
        <gazebo reference="wheel_4">
            <material>Gazebo/Black</material>
        </gazebo>
    </link>

    <!-- Joint definitions -->
    <joint name="base_l_wheel_joint" type="continuous">
        <parent link="base_link"/>
        <child link="wheel_1"/>
        <origin rpy="1.5707 0 0" xyz="0.1 0.15 0"/>
        <axis xyz="0 0 1"/>
    </joint>

    <joint name="base_r_wheel_joint" type="continuous">
        <parent link="base_link"/>
        <child link="wheel_2"/>
        <origin rpy="1.5707 0 0" xyz="-0.1 0.15 0"/>
        <axis xyz="0 0 1"/>
    </joint>

    <joint name="base_wheel3_joint" type="continuous">
        <parent link="base_link"/>
        <child link="wheel_3"/>
        <origin rpy="1.5707 0 0" xyz="0.1 -0.15 0"/>
        <axis xyz="0 0 1"/>
    </joint>

    <joint name="base_wheel4_joint" type="continuous">
        <parent link="base_link"/>
        <child link="wheel_4"/>
        <origin rpy="1.5707 0 0" xyz="-0.1 -0.15 0"/>
        <axis xyz="0 0 1"/>
    </joint>

    <!-- Gazebo Plugin -->
    <gazebo>
        <plugin name="arbotix_driver" filename="libarbotix_driver.so">
            <rosparam file="$(find myrobot)/config/fake_mrobot_arbotix.yaml" command="load"/>
            <param name="sim" value="true"/>
        </plugin>
    </gazebo>

    <!-- Controller Plugin -->
    <gazebo>
        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <rosDebugLevel>Debug</rosDebugLevel>
            <publishWheelTF>true</publishWheelTF>
            <robotNamespace>/</robotNamespace>
            <publishTf>1</publishTf>
            <publishWheelJointState>true</publishWheelJointState>
            <alwaysOn>true</alwaysOn>
            <updateRate>100.0</updateRate>
            <legacyMode>true</legacyMode>
            <leftJoint>base_l_wheel_joint</leftJoint>
            <rightJoint>base_r_wheel_joint</rightJoint>
            <wheelSeparation>${base_link_radius * 2}</wheelSeparation>
            <wheelDiameter>${2 * radius_wheel}</wheelDiameter>
            <broadcastTF>1</broadcastTF>
            <wheelTorque>30</wheelTorque>
            <wheelAcceleration>1.8</wheelAcceleration>
            <commandTopic>cmd_vel</commandTopic>
            <odometryFrame>odom</odometryFrame>
            <odometryTopic>odom</odometryTopic>
            <robotBaseFrame>base_footprint</robotBaseFrame>
        </plugin>
    </gazebo>
</robot>

5.修改launch文件display_xacro.launch

修改display_xacro.launch

<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find myrobot_ga)/worlds/playground.world"/>
    <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"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <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>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_ga)/urdf/robot1_base.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mrobot -param robot_description"/> 

</launch>

注意：

1.这个display_xacro.launch是调用最基础的机器人模型的launch，在之前文章似乎有的使用的myrobot.launch文件，这里叫什么无所谓，核心是launch文件指向的模型文件路径正确

 <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_ga)/urdf/robot1_base.xacro'" /> 

2.

<!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find myrobot_ga)/worlds/playground.world"/>

对于这行是对仿真进行添加一下障碍物（家具等其它模型来仿真一个特殊环境），如果想效果最大化的话

下载仿真使用的worlds文件

                                                                 worlds仿真环境文件


 

链接: https://pan.baidu.com/s/1H-PycN3KFIfTT_yUY0mI2A?pwd=1xh6 提取码: 1xh6

将worlds放到myrobot_gad功能包目录下

6.运行display_xacro.launch文件

roslaunch myrobot_ga display_xacro.launch

强烈建议使用流量进行连接，校园网的WiFi会比较慢

（鼠标滚轮拉进或远离，按住鼠标中键滚轮可以调整视角，左键可以平拉平面）

其它好玩的希望读者自己探索！

让我们看一下如何没有加worlds文件的效果

7.控制机器人进行移动

a.运行display_xacro.launch文件

roslaunch myrobot_ga display_xacro.launch

b.运行rostopic list

rostopic list

c.运行roslaunch mrobot_teleop mrobot_teleop.launch.

roslaunch mrobot_teleop mrobot_teleop.launch

小车成功运动！

在机器人上加入摄像头传感器进行仿真

1.修改camera.xacro

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

    <xacro:macro name="usb_camera" params="prefix:=camera">
        <!-- Create laser reference frame -->
        <link name="${prefix}_link">
            <inertial>
                <mass value="0.1" />
                <origin xyz="0 0 0" />
                <inertia ixx="0.01" ixy="0.0" ixz="0.0"
                         iyy="0.01" iyz="0.0"
                         izz="0.01" />
            </inertial>

            <visual>
                <origin xyz=" 0 0 0 " rpy="0 0 0" />
                <geometry>
                    <box size="0.01 0.04 0.04" />
                </geometry>
                <material name="black"/>
            </visual>

            <collision>
                <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                <geometry>
                    <box size="0.01 0.04 0.04" />
                </geometry>
            </collision>
        </link>
        <gazebo reference="${prefix}_link">
            <material>Gazebo/Black</material>
        </gazebo>

        <gazebo reference="${prefix}_link">
            <sensor type="camera" name="camera_node">
                <update_rate>30.0</update_rate>
                <camera name="head">
                    <horizontal_fov>1.3962634</horizontal_fov>
                    <image>
                        <width>1280</width>
                        <height>720</height>
                        <format>R8G8B8</format>
                    </image>
                    <clip>
                        <near>0.02</near>
                        <far>300</far>
                    </clip>
                    <noise>
                        <type>gaussian</type>
                        <mean>0.0</mean>
                        <stddev>0.007</stddev>
                    </noise>
                </camera>
                <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">
                    <alwaysOn>true</alwaysOn>
                    <updateRate>0.0</updateRate>
                    <cameraName>/camera</cameraName>
                    <imageTopicName>image_raw</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>

    </xacro:macro>
</robot>

2.修改我们的mrobot_with_camera.urdf.xacro

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

    <xacro:include filename="$(find myrobot_ga)/urdf/robot1_base.xacro" />
    <xacro:include filename="$(find myrobot_ga)/urdf/camera.xacro" />

    <xacro:property name="camera_offset_x" value="0.1" />
    <xacro:property name="camera_offset_y" value="0" />
    <xacro:property name="camera_offset_z" value="0.2" />

   
    <xacro:usb_camera prefix="camera"/>

 
    <joint name="camera_joint" type="fixed">
        <origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" />
        <parent link="base_link"/>  
        <child link="camera_link"/>   
    </joint>

    

</robot>

核心修改地方：myrobot_ga

    <xacro:include filename="$(find myrobot_ga)/urdf/robot1_base.xacro" />
    <xacro:include filename="$(find myrobot_ga)/urdf/camera.xacro" />

3.修改xiangji.launch

<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find myrobot_ga)/worlds/playground.world"/>
    <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"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <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>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_ga)/urdf/mrobot_with_camera.urdf.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mrobot -param robot_description"/> 

</launch>

核心修改的地方就是模型位置

   <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_ga)/urdf/mrobot_with_camera.urdf.xacro'" /> 

4.运行xiangji.launch

roslaunch myrobot_ga xiangji.launch

5.进行摄像头仿真

a. 运行rostopic list

rostopic list

b.运行rqt_image_view

rqt_image_view

摄像头仿真完毕！！！！

在机器人上加入Kinect仿真传感器进行仿真

1.修改kinect.xacro

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

    <xacro:property name="M_PI" value="3.14159265358979323846"/>

    <xacro:macro name="kinect_camera" params="prefix:=kinect">
        <link name="${prefix}_link">
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}"/>
                <geometry>
                    <mesh filename="package://myrobot/meshes/kinect.dae" />
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <box size="0.07 0.3 0.09"/>
                </geometry>
            </collision>
        </link>

        <joint name="${prefix}_optical_joint" type="fixed">
            <origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
            <parent link="${prefix}_link"/>
            <child link="${prefix}_frame_optical"/>
        </joint>

        <link name="${prefix}_frame_optical"/>
        <gazebo reference="${prefix}_link">
            <sensor type="depth" name="${prefix}">
                <always_on>true</always_on>
                <update_rate>20.0</update_rate>
                <camera>
                    <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
                    <image>
                        <format>R8G8B8</format>
                        <width>640</width>
                        <height>480</height>
                    </image>
                    <clip>
                        <near>0.05</near>
                        <far>8.0</far>
                    </clip>
                </camera>
                <plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
                    <cameraName>${prefix}</cameraName>
                    <alwaysOn>true</alwaysOn>
                    <updateRate>10</updateRate>
                    <imageTopicName>rgb/image_raw</imageTopicName>
                    <depthImageTopicName>depth/image_raw</depthImageTopicName>
                    <pointCloudTopicName>depth/points</pointCloudTopicName>
                    <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
                    <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
                    <frameName>${prefix}_frame_optical</frameName>
                    <baseline>0.1</baseline>
                    <distortion_k1>0.0</distortion_k1>
                    <distortion_k2>0.0</distortion_k2>
                    <distortion_k3>0.0</distortion_k3>
                    <distortion_t1>0.0</distortion_t1>
                    <distortion_t2>0.0</distortion_t2>
                    <pointCloudCutoff>0.4</pointCloudCutoff>
                </plugin>
            </sensor>
        </gazebo> </xacro:macro>
</robot>

2.修改mrobot_with_kinect.urdf.xacro

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

    
    <xacro:include filename="$(find myrobot_ga)/urdf/robot1_base.xacro" />
    <xacro:include filename="$(find myrobot_ga)/urdf/kinect.xacro" />


    <xacro:property name="kinect_offset_x" value="-0.06" />
    <xacro:property name="kinect_offset_y" value="0" />
    <xacro:property name="kinect_offset_z" value="0.15" />

   
    <mrobot_body/>


    <xacro:kinect_camera prefix="kinect"/>

   
    <joint name="kinect_frame_joint" type="fixed">
        <origin xyz="${kinect_offset_x} ${kinect_offset_y} ${kinect_offset_z}" rpy="0 0 0" />
        <parent link="base_link"/> 
        <child link="kinect_link"/>
    </joint>

</robot>

3.修改deepxiangji.launch

<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find myrobot_ga)/worlds/playground.world"/>
    <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"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <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>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_ga)/urdf/mrobot_with_kinect.urdf.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mrobot -param robot_description"/> 

</launch>

4. 运行deepxiangji.launch并对深度相机进行仿真

a. 运行deepxiangji.launch

roslaunch myrobot deepxiangji.launch

b.运行

rostopic list

c.运行rosrun rviz rviz

rosrun rviz rviz

d.rviz的Fixed Frame设置为“Kinect_frame_optical”

e.后添加一个PointCloud2类型的插件，修改插件订阅的话题为/Kinect/depth/points，此时就可以在主界面中点云信息

深度相机仿真完成！！！！！

在机器人上加入雷达传感器进行仿真

1.修改rplidar.xacro

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

    <xacro:macro name="rplidar" params="prefix:=laser">
        <!-- Create laser reference frame -->
        <link name="${prefix}_link">
            <inertial>
                <mass value="0.1" />
                <origin xyz="0 0 0" />
                <inertia ixx="0.01" ixy="0.0" ixz="0.0"
                         iyy="0.01" iyz="0.0"
                         izz="0.01" />
            </inertial>

            <visual>
                <origin xyz=" 0 0 0 " rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.05" radius="0.05"/>
                </geometry>
                <material name="black"/>
            </visual>

            <collision>
                <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.06" radius="0.05"/>
                </geometry>
            </collision>
        </link>
        <gazebo reference="${prefix}_link">
            <material>Gazebo/Black</material>
        </gazebo>

        <gazebo reference="${prefix}_link">
            <sensor type="ray" name="rplidar">
                <pose>0 0 0 0 0 0</pose>
                <visualize>false</visualize>
                <update_rate>5.5</update_rate>
                <ray>
                    <scan>
                      <horizontal>
                        <samples>360</samples>
                        <resolution>1</resolution>
                        <min_angle>-3</min_angle>
                        <max_angle>3</max_angle>
                      </horizontal>
                    </scan>
                    <range>
                      <min>0.10</min>
                      <max>6.0</max>
                      <resolution>0.01</resolution>
                    </range>
                    <noise>
                      <type>gaussian</type>
                      <mean>0.0</mean>
                      <stddev>0.01</stddev>
                    </noise>
                </ray>
                <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
                    <topicName>/scan</topicName>
                    <frameName>laser_link</frameName>
                </plugin>
            </sensor>
        </gazebo>

    </xacro:macro>
</robot>

2.修改mrobot_with_rplidar.urdf.xacro

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

 
    <xacro:include filename="$(find myrobot_ga)/urdf/robot1_base.xacro" />
    <xacro:include filename="$(find myrobot_ga)/urdf/rplidar.xacro" />

   
    <xacro:property name="rplidar_offset_x" value="0" />
    <xacro:property name="rplidar_offset_y" value="0" />
    <xacro:property name="rplidar_offset_z" value="0.18" />

  
    <mrobot_body/>

    
    <xacro:rplidar prefix="laser"/>

   
    <joint name="rplidar_joint" type="fixed">
        <origin xyz="${rplidar_offset_x} ${rplidar_offset_y} ${rplidar_offset_z}" rpy="0 0 0" />
        <parent link="base_link"/> 
        <child link="laser_link"/> 
    </joint>

</robot>

3.修改leida.launch

<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find myrobot_ga)/worlds/playground.world"/>
    <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"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <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>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_ga)/urdf/mrobot_with_rplidar.urdf.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mrobot -param robot_description"/> 

</launch>

4.运行leida.launch并仿真

a.运行roslaunch myrobot_ga leida.launch

roslaunch myrobot_ga leida.launch

b.运行rostopic list

rostopic list

c.运行rosrun rviz rviz

rosrun rviz rviz

d.设置rviz

在rviz中设置“Fixed Frame”为“base_link”，然后添加一个LaserScan类型的插件，修改插件订阅的话题为“/scan”，就可以看到界面中的激光数据了

！！！！雷达仿真实现！！！！