关于参考古月《ROS探索总结（五）——创建简单的机器人模型smartcar》在kinetic中实现总结

一.创建硬件描述包

        cd ~/catkin_ws/src

        catkin_create_pkg smartcar_description std_msgs rospy roscpp urdf

二、建立urdf文件

   cd ~/catkin_ws/src/smartcar_description


   mkdir -p urdf


       文件内容不变

    <?xml version="1.0"?>  

    <robot name="smartcar">  

      <link name="base_link">  

        <visual>  

          <geometry>  

            <box size="0.25 .16 .05"/>  

        </geometry>  

        <origin rpy="0 0 1.57075" xyz="0 0 0"/>  

        <material name="blue">  

            <color rgba="0 0 .8 1"/>  

        </material>  

        </visual>  

    </link>  

     

    <link name="right_front_wheel">  

        <visual>  

          <geometry>  

            <cylinder length=".02" radius="0.025"/>  

          </geometry>  

          <material name="black">  

            <color rgba="0 0 0 1"/>  

          </material>  

        </visual>  

      </link>  

     

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

        <axis xyz="0 0 1"/>  

        <parent link="base_link"/>  

        <child link="right_front_wheel"/>  

        <origin rpy="0 1.57075 0" xyz="0.08 0.1 -0.03"/>  

        <limit effort="100" velocity="100"/>  

        <joint_properties damping="0.0" friction="0.0"/>  

      </joint>  

     

      <link name="right_back_wheel">  

        <visual>  

          <geometry>  

            <cylinder length=".02" radius="0.025"/>  

          </geometry>  

          <material name="black">  

            <color rgba="0 0 0 1"/>  

          </material>  

        </visual>  

      </link>  

     

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

        <axis xyz="0 0 1"/>  

        <parent link="base_link"/>  

        <child link="right_back_wheel"/>  

        <origin rpy="0 1.57075 0" xyz="0.08 -0.1 -0.03"/>  

        <limit effort="100" velocity="100"/>  

        <joint_properties damping="0.0" friction="0.0"/>  

    </joint>  

     

    <link name="left_front_wheel">  

        <visual>  

          <geometry>  

            <cylinder length=".02" radius="0.025"/>  

          </geometry>  

          <material name="black">  

            <color rgba="0 0 0 1"/>  

          </material>  

        </visual>  

      </link>  

     

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

        <axis xyz="0 0 1"/>  

        <parent link="base_link"/>  

        <child link="left_front_wheel"/>  

        <origin rpy="0 1.57075 0" xyz="-0.08 0.1 -0.03"/>  

        <limit effort="100" velocity="100"/>  

        <joint_properties damping="0.0" friction="0.0"/>  

      </joint>  

     

      <link name="left_back_wheel">  

        <visual>  

          <geometry>  

            <cylinder length=".02" radius="0.025"/>  

          </geometry>  

          <material name="black">  

            <color rgba="0 0 0 1"/>  

          </material>  

        </visual>  

      </link>  

     

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

        <axis xyz="0 0 1"/>  

        <parent link="base_link"/>  

        <child link="left_back_wheel"/>  

        <origin rpy="0 1.57075 0" xyz="-0.08 -0.1 -0.03"/>  

        <limit effort="100" velocity="100"/>  

        <joint_properties damping="0.0" friction="0.0"/>  

      </joint>  

     

      <link name="head">  

        <visual>  

          <geometry>  

            <box size=".02 .03 .03"/>  

          </geometry>  

          <material name="white">  

              <color rgba="1 1 1 1"/>  

          </material>  

        </visual>  

      </link>  

     

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

        <parent link="base_link"/>  

        <child link="head"/>  

        <origin xyz="0 0.08 0.025"/>  

      </joint>  

    </robot>

三. 建立launch命令文件

在smartcar_description文件夹下建立launch文件夹mkdir -p launch，创建智能车的描述文件 base.urdf.rviz.launch，描述代码如下：

<launch>     

        <arg name="model" />
        <arg name="gui" default="true" /> 
	<arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />    

        <param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" /> 
        <param name="use_gui" value="$(arg gui)"/>     

        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
	</node>
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
        <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />  

</launch>

四、效果演示
      roslaunch  smartcar_description  base.urdf.rviz.launch