AUBO i5 ros从建模到gazebo仿真-建模

1.这里说明一下我们这里是针对的的aubo-i5机械臂进行一个建模，这里不适用moveit，以便大家对机械臂控制有一个直观的感觉：

在包里面建立以上的文件夹，include 就是存放头文件的，meshes就是存放关节的stl文件以及dae文件，src就是存放源文件，urdf就是存放模型组织文件的

那么urdf中的文件会调用meshes中的模型文件，然后rviz这个文件夹里面就是存放rviz可视化窗口的配置文件。

urdf文件：

<?xml version="1.0"?>
<robot  name="aubo_i5">

  <link name="base_link">
    <inertial>
      <origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
      <mass value="0.83419" />
      <inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05" izz="0.0024659" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/base_link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="shoulder_Link">
    <inertial>
      <origin xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
      <mass value="1.57658348693929" />
      <inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817" iyz="-0.000160151642851425" izz="0.0030869857349184" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/shoulder_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/shoulder_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="shoulder_joint" type="revolute">
    <origin xyz="0 0 0.122" rpy="0 0 3.1416" />
    <parent link="base_link" />
    <child link="shoulder_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.05" upper="3.05" effort="0" velocity="0" />
  </joint>

  <link name="upperArm_Link">
    <inertial>
      <origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
      <mass value="4.04175782265494" />
      <inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0" izz="0.142607184038966" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/upperArm_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/upperArm_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="upperArm_joint" type="revolute">
    <origin xyz="0 0.1215 0" rpy="-1.5708 -1.5708 0" />
    <parent link="shoulder_Link" />
    <child link="upperArm_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.05" upper="3.05" effort="0" velocity="0" />
  </joint>

  <link name="foreArm_Link">
    <inertial>
      <origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
      <mass  value="2.27145669098343" />
      <inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205" iyz="0" izz="0.0441273797128365" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/foreArm_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/foreArm_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="foreArm_joint" type="revolute">
    <origin xyz="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
    <parent link="upperArm_Link" />
    <child link="foreArm_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.05" upper="3.05" effort="0" velocity="0" />
  </joint>

  <link name="wrist1_Link">
    <inertial>
      <origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
      <mass value="0.500477539188764" />
      <inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958" iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/wrist1_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/wrist1_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="wrist1_joint" type="revolute">
    <origin xyz="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
    <parent link="foreArm_Link" />
    <child link="wrist1_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.05" upper="3.05" effort="0" velocity="0" />
  </joint>

  <link name="wrist2_Link">
    <inertial>
      <origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
      <mass value="0.500477539245988" />
      <inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442" iyz="2.30808694515886E-05" izz="0.000685574005112107" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/wrist2_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/wrist2_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="wrist2_joint" type="revolute">
    <origin xyz="0 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
    <parent link="wrist1_Link" />
    <child link="wrist2_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.05" upper="3.05" effort="0" velocity="0" />
  </joint>

  <link name="wrist3_Link">
    <inertial>
      <origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
      <mass value="0.158309554874285" />
      <inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0" izz="0.000108772439051422" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/visual/wrist3_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_simulation/meshes/collision/wrist3_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="wrist3_joint" type="revolute">
    <origin xyz="0 -0.094 0" rpy="1.5708 0 1.7907E-15" />
    <parent link="wrist2_Link" />
    <child link="wrist3_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.05" upper="3.05" effort="0" velocity="0" />
  </joint>

  <link name="world" />

  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "base_link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </joint>
</robot>

这里面描述了上下关节之间的关系，关节的名称以及一些位置关系。

https://github.com/lg609/aubo_robot/tree/master/aubo_description/meshes这里面可以下载mesh里面的stl 和dae文件

rviz里面的配置文件采用  ros自带的配置文件在 

/opt/ros/melodic/share/urdf_tutorial/rviz这个目录下复制过来放到文件夹里面

launch 文件的格式：

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

    <param name="robot_description"  command="$(find xacro)/xacro $(find aubo_simulation)/urdf/aubo_i5.urdf"  />
    <param name="use_gui" value="$(arg gui)" />

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

launch 这个包以后可以实现：

要安装两个包sudo apt-get install ros-melodic-joint-state-publisher-gui  主要是为了能显示各关节的运动角度手动调整框也就launch里面的use_gui=true 如果没有安装会报错！

还有一个包sudo apt-get install ros-melodic-joint-state-publisher  主要用于机械臂角度的实时发布

可以通过rostopic echo /joint_state  查看

至此已经可以实现机械臂在rviz中的显示，并可通过gui来拖动关节的转动