Ros实战（2）——使用gazebo对urdf模型进行驱动控制

系列文章目录

例如：Ros实战（1）——将已有的SolidWorks模型文件转成urdf供仿真使用

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前言

在上一篇文章中我们已经使用SolidWorks完成了机器人的建模与配置，使其能在gazebo与rviz中加载控制，接下来则需要对传动装置和控制器进行配置，以便后续编写控制算法进行仿真

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一、配置传动装置

配置传动装置相当于配置各个关节的舵机参数。代码如下（示例）：

<?xml version="1.0" ?>

<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  

  <!-- Transmissions for ros_control -->
  <xacro:macro name="transmission_block" params="joint_name">
    <transmission name="trans1">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${joint_name}">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="motor1">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>

  <xacro:transmission_block joint_name="joint_1"/>
  <xacro:transmission_block joint_name="joint_2"/>
  <xacro:transmission_block joint_name="joint_3"/>
  <xacro:transmission_block joint_name="joint_4"/>
  <xacro:transmission_block joint_name="joint_5"/>
  <xacro:transmission_block joint_name="joint_6"/>
  <xacro:transmission_block joint_name="joint_7"/>
  <xacro:transmission_block joint_name="joint_8"/>
  <xacro:transmission_block joint_name="joint_9"/>
  <xacro:transmission_block joint_name="joint_10"/>
  <xacro:transmission_block joint_name="joint_11"/>
  <xacro:transmission_block joint_name="joint_12"/>
  <xacro:transmission_block joint_name="joint_13"/>
  <xacro:transmission_block joint_name="joint_14"/>
  <xacro:transmission_block joint_name="joint_15"/>
  <xacro:transmission_block joint_name="joint_16"/>
  <xacro:transmission_block joint_name="joint_17"/>
  <xacro:transmission_block joint_name="joint_18"/>


</robot>

二、添加gazebo属性

代码如下（示例）：

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

#添加ros_control插件
  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/my_robot</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

  #配置关节阻尼
  <!-- Joint 'implicitSpringDamper' setup-->
  <xacro:macro name="joint_setup_block" params="joint_name">
    <gazebo reference="${joint_name}">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>
  </xacro:macro>

  <xacro:joint_setup_block joint_name="joint_1"/>
  <xacro:joint_setup_block joint_name="joint_2"/>
  <xacro:joint_setup_block joint_name="joint_3"/>
  <xacro:joint_setup_block joint_name="joint_4"/>
  <xacro:joint_setup_block joint_name="joint_5"/>
  <xacro:joint_setup_block joint_name="joint_6"/>
  <xacro:joint_setup_block joint_name="joint_7"/>
  <xacro:joint_setup_block joint_name="joint_8"/>
  <xacro:joint_setup_block joint_name="joint_9"/>
  <xacro:joint_setup_block joint_name="joint_10"/>
  <xacro:joint_setup_block joint_name="joint_11"/>
  <xacro:joint_setup_block joint_name="joint_12"/>
  <xacro:joint_setup_block joint_name="joint_13"/>
  <xacro:joint_setup_block joint_name="joint_14"/>
  <xacro:joint_setup_block joint_name="joint_15"/>
  <xacro:joint_setup_block joint_name="joint_16"/>
  <xacro:joint_setup_block joint_name="joint_17"/>
  <xacro:joint_setup_block joint_name="joint_18"/>
#配置连杆物理属性，主要配置机器人末端与世界接触的物理属性。
  <!-- Link setup-->
  <xacro:macro name="link_setup_block" params="link_name">
    <gazebo reference="${link_name}">
      <kp>1000000.0</kp>
      <kd>1.0</kd>
      <mu1>0.6</mu1>
      <mu2>0.6</mu2>
      <minDepth>0.001</minDepth>
    </gazebo>
  </xacro:macro>
  <xacro:link_setup_block link_name="13"/>
  <xacro:link_setup_block link_name="14"/>
  <xacro:link_setup_block link_name="15"/>
  <xacro:link_setup_block link_name="16"/>
  <xacro:link_setup_block link_name="17"/>
  <xacro:link_setup_block link_name="18"/>


</robot>

三、配置控制器参数

主要配置的有：控制器信息发布频率和各个关节的pid参数：

my_robot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 10
  
  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_1
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint2_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_2
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint3_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_3
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint4_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_4
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint5_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_5
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint6_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_6
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint7_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_7
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint8_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_8
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint9_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_9
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint10_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_10
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint11_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_11
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint12_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_12
    pid: {p: 3000.0, i: 0.01, d: 100.0}
  
  joint13_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_13
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint14_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_14
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint15_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_15
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint16_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_16
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint17_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_17
    pid: {p: 5000.0, i: 0.01, d: 100.0}

  joint18_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_18
    pid: {p: 3000.0, i: 0.01, d: 100.0}

四、修改launch文件

将新增的节点添加入launch文件即可：

<launch>

  <param name="/use_sim_time" value="true" />
 
  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="world_name" value="$(find my_robot)/worlds/empty_world.world"/>
  <arg name="paused" default="true"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(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>
  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

    <rosparam param="/source_list">[/my_robot/joint_states]</rosparam>
  </node>

    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find my_robot)/urdf/bot.xacro"/>

    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model my_robot -param robot_description"/>
    
    <rosparam file="$(find robot_control)/config/control.yaml" command="load"/>
    <!-- load the controllers -->
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" ns="my_robot"
    output="screen" args="joint_state_controller
                          joint1_position_controller
                          joint2_position_controller
                          joint3_position_controller
                          joint4_position_controller
                          joint5_position_controller
                          joint6_position_controller
                          joint7_position_controller
                          joint8_position_controller
                          joint9_position_controller
                          joint10_position_controller
                          joint11_position_controller
                          joint12_position_controller
                          joint13_position_controller
                          joint14_position_controller
                          joint15_position_controller
                          joint16_position_controller
                          joint17_position_controller
                          joint18_position_controller"/>
    <!-- convert joint states to TF transforms for rviz, etc -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
      <remap from="/joint_states" to="/my_robot/joint_states" />
    </node>

</launch>

总结

通过上述步骤便可完成机器人控制器的配置，接下来便可通过编写控制算法进行运动仿真。需要注意的是仿真对模型的参数有较高的要求（最好与真实机器人相同），否则仿真会出现各种问题，导致效果不理想。