教程 | 阿克曼结构移动机器人的gazebo仿真（五）

第四章、用xacro优化URDF并配置gazebo仿真插件

1►前言

上节用简易模型写了一个小车的URDF代码，这一节将用xacro对其进行优化，这里我并不打算用宏对参数进行封装，因为我个人觉得这样看起来会比较直观，方便读者阅读。

2►配置主xacro文件

新建racecar.xacro文件，将上一节racebot.urdf中的代码复制过来并进行修改，整体代码如下：

<?xml version="1.0" encoding="utf-8"?>
<robot name="racebot" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find racebot_description)/urdf/ackermann/macros.xacro" />  
    <link name="base_footprint">
    </link>
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.28 0.1 0.03"/>
                <!-- <mesh filename="package://tianracer_description/meshes/base_link.STL" /> -->
            </geometry>
            <!-- <origin xyz="0 0 -0.023" rpy="0 0 0" /> -->
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="yellow">
                <color rgba="0.8 0.3 0.1 0.5" />
            </material>
        </visual>
        <collision>
            <geometry>
                <box size="0.28 0.1 0.03" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
    </link>
    <joint name="base_link2base_footprint" type="fixed">
        <parent link="base_footprint" />
        <child link="base_link"/>
        <origin xyz="0 0 0.032" rpy="0 0 0" />
    </joint>
    <link name="base_inertia">
    <inertial>
            <origin xyz="0 0 0" />
            <mass value="4" />
            <inertia ixx="0.0264" ixy="0" ixz="0" iyy="0.0294" iyz="0" izz="0.00364" />
        </inertial>
    </link>    
    <joint name="chassis_inertia_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="base_inertia" />
  </joint>
    <link name="left_steering_hinge">
        <visual>
            <geometry>
                <cylinder radius="0.01" length="0.005" />
                <!-- <sphere radius="0.015" /> -->
            </geometry>
            <origin xyz="0 0 0" rpy="1.57 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="0.01" length="0.005" />
                <!-- <sphere radius="0.015" /> -->
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
        </collision>
        <inertial>
            <origin xyz="0 0 0" />
            <mass value="0.5" />
            <inertia ixx="1.35E-05" ixy="0" ixz="0" iyy="1.35E-05" iyz="0" izz="2.5E-05" />
        </inertial>
    </link>
    <joint name="left_steering_hinge_joint" type="revolute">
        <parent link="base_link" />
        <child link="left_steering_hinge" />
        <origin xyz="0.13 0.065 0" />
        <axis xyz="0 0 1" />
        <limit lower="-0.6" upper="0.6" effort="5.0" velocity="1000.0"/>
    </joint>
    <xacro:steering_hinge_transmission name="left_steering_hinge" />
    <link name="left_front_wheel">
        <visual>
            <geometry>
                <cylinder radius="0.033" length="0.02" />
            </geometry>
            <origin xyz="0 0 0" rpy="1.57 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="0.032" length="0.02" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
        </collision>
        <inertial>
            <origin xyz="0 0 0" />
            <mass value="2.0" />
            <inertia ixx="6.64E-04" ixy="0" ixz="0" iyy="6.64E-04" iyz="0" izz="1.02E-03" />
        </inertial>
    </link>

    <joint name="left_front_wheel_joint" type="continuous">
        <parent link="left_steering_hinge" />
        <child link="left_front_wheel" />
        <origin xyz="0 0.025 0" />
        <axis xyz="0 1 0" />
        <limit effort="10" velocity="1000" />
    </joint>
     <xacro:wheel_transmission name="left_front_wheel" />
<link name="right_steering_hinge">
        <visual>
            <geometry>
                 <cylinder radius="0.01" length="0.005" />
            </geometry>
            <origin xyz="0 0 0" rpy="1.57 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="0.01" length="0.005" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
        </collision>
        <inertial>
            <origin xyz="0 0 0" />
            <mass value="0.5" />
            <inertia ixx="1.35E-05" ixy="0" ixz="0" iyy="1.35E-05" iyz="0" izz="2.5E-05" />
        </inertial>
    </link>
    <joint name="right_steering_hinge_joint" type="revolute">
        <parent link="base_link" />
        <child link="right_steering_hinge" />
        <origin xyz="0.13 -0.065 0" />
        <axis xyz="0 0 1" />
        <limit lower="-0.6" upper="0.6" effort="5.0" velocity="1000.0"/>
    </joint>
    <xacro:steering_hinge_transmission name="right_steering_hinge" />
     <link name="right_front_wheel&#