1、创建机器人建模功能包:
catkin_create_pkg mbot_description urdf xacro
2、创建文件夹:
urdf: 存放机器人模型的URDF或xacro文件
meshes:放置URDF中引用的模型渲染文件
launch:保存相关启动文件
config:保存rivz配置文件
3、在urdf文件夹下新建mbot_base.urdf文件,并输入一下内容:
<?xml version="1.0"?>
<robot name="mbot">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.005" radius="0.16"/>
</geometry>
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
</link>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.032" length="0.025" />
</geometry>
<material name="white">
<color rgba="1 1 1 0.9" />
</material>
</visual>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin xyz="0.09 0.12 -0.01" rpy="0 0 0" />
<parent link="base_link" />
<child link="left_wheel_link" />
<axis xyz="0 1 0" />
</joint>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.032" length="0.025" />
</geometry>
<material name="white">
<color rgba="1 1 1 0.9" />
</material>
</visual>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0.09 -0.12 -0.01" rpy="0 0 0" />
<parent link="base_link" />
<child link="right_wheel_link" />
<axis xyz="0 1 0" />
</joint>
<link name="back_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.022" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95" />
</material>
</visual>
</link>
<joint name="back_caster_joint" type="continuous">
<origin xyz="-0.12 0 -0.018" rpy="0 0 0" />
<parent link="base_link" />
<child link="back_caster_link" />
<axis xyz="0 1 0" />
</joint>
<link name="laser_link">
<visual>
<origin xyz="0 0 0 " rpy="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.05" />
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0.08 0 0.03" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="laser_link"/>
</joint>
</robot>
4、检查URDF模型整体结构,在urdf文件夹目录下执行命令:
urdf_to_graphiz mbot_base_with_laser.urdf
生成的pdf文件就是你的urdf文件的结构。
5、在launch文件夹下新建display_mbot_basewith_laser_urdf.launch启动文件,并输入一下内容:
<launch>
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_with_laser.urdf" />
<!-- 设置GUI参数,显示关节控制插件 -->
<param name="use_gui" value="true"/>
<!-- 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" />
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- 运行rviz可视化界面 -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_with_laser_urdf.rviz" required="true" />
</launch>
6、运行launch文件,即可看到你的机器人模型
roslaunch mbot_description display_mbot_with_laser_urdf.launch
Finish