ROS通信编程与仿真工具
在Ubuntu下安装RVIZ
sudo apt-get install ros-melodic-rviz
检测环境,安装
rosdep install rviz
rosmake rviz
安装功能包
sudo apt-get install ros-melodic-uvc-camera
安装image相关功能包
sudo apt-get install ros-melodic-image-*
sudo apt-get install ros-melodic-rqt-image-view
接下来开三个终端
①启动Ros的核心程序
roscore
②
rosrun uvc_camera uvc_camera_node
③
rviz
打开rviz后
选择主题
电脑摄像头的画面
用键盘控制机器人的行走,并在 Rviz 中查看各传感器 的采集信息
参考博客 在下摸鱼怪
创建工作空间
cd ~
mkdir -p catkin_ws/src
新建 gazebo 机器人仿真工具包
cd ~/catkin_ws/src
catkin_create_pkg mbot_gazebo std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make
创建工程所需文件
cd ~/catkin_ws/src
catkin_create_pkg mbot_gazebo std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make
在 gazebo_empty.launch 文件中添加如下内容:
<launch>
<!-- 设置launch文件的参数 -->
<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="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(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 mbot_description)/urdf/xacro/gazebo/mbot_gazebo.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>
修改 CMakeLists.txt 文件内容
cd ~/catkin_ws/src/mbot_gazebo
gedit CMakeLists.txt
向 find_package 中添加:
gazebo_plugins
gazebo_ros
gazebo_ros_control
修改 package.xml 文件内容
cd ~/catkin_ws/src/mbot_gazebo
gedit package.xml
然后添加如下内容
<build_depend>gazebo_plugins</build_depend>
<build_depend>gazebo_ros</build_depend>
<build_depend>gazebo_ros_control</build_depend>
<build_export_depend>gazebo_plugins</build_export_depend>
<build_export_depend>gazebo_ros</build_export_depend>
<build_export_depend>gazebo_ros_control</build_export_depend>
<exec_depend>gazebo_plugins</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_ros_control</exec_depend>
程序编译
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
运行 gazebo 进行机器人仿真
用gazebo 仿真器搭建自己的一个三维虚拟环境
提前下载gazebo的仿真模型
cd ~/.gazebo
mkdir models
cd ~/.gazebo/models
wget http://file.ncnynl.com/ros/gazebo_models.txt
wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf