Simulation in ROS -ROS learning from GUANGDONG UNIVERSITY OF TECHNOLOGY 04

最新推荐文章于 2024-01-19 21:04:23 发布
最新推荐文章于 2024-01-19 21:04:23 发布
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分类专栏： ROS
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本文链接：https://blog.csdn.net/hk2121/article/details/104555822
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The URDF file

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

<!-- Used for fixing robot to Gazebo 'base_link' -->
  <link name="world"/>

  <joint name="glue_robot_to_world" type="fixed">
    <parent link="world"/>
    <child link="link1"/>
  </joint>

 <!-- Base Link -->
  <link name="link1">
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
       <box size="0.2 0.2 0.7"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.2 0.2 1"/>
      </geometry>
    </visual>

    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="0.0" ixz="0.0"
        iyy="1.0" iyz="0.0"
        izz="1.0"/>
    </inertial>
  </link>

<!-- Moveable Link -->
  <link name="link2">
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder length="1" radius="0.1"/>
        <!--box size="0.15 0.15 0.8"-->
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder length="1" radius="0.1"/>
      </geometry>
    </visual>

    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="0.1" ixy="0.0" ixz="0.0"
        iyy="0.1" iyz="0.0"
        izz="0.005"/>
    </inertial>
  </link>

  <joint name="joint1" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0 1" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="0.0" upper="2.0" velocity="0.5"/>
    <dynamics damping="1.0"/>
  </joint>

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
       <robotNamespace>/one_DOF_robot</robotNamespace>
     </plugin>
  </gazebo>
</robot>

explaination

• Joint frame “joint 1”
• Rigidly linked with the parent: link1
<origin xyz ="0 0 0.5 " rpy ="0 0 0"/>
• Pose of Joint Frame
• Specified by describing: displacement & rotation of joint frame wrt parent
• Displaced 0.5m in 𝒛 & no change in orientation.
<joint name =" joint1 " type =" continuous ">
<axis xyz ="0 1 0"/>
• Link2 associated to link1 through revolute joint.
• If unspecified, joint axis of revolute joint: collinear with x-axis.
• Here, axis collinear with y-axis.
• In contrast with DH convention, which always uses the z–axis.
collision 碰撞属性
在这里插入图片描述
visual 形状大小
inertial 惯性属性
mass 重量 单位:Kg
使用gazebo 插件的时候需要对模型有所限制

 <joint name="joint1" type="revolute">
   <parent link="link1"/>
   <child link="link2"/>
   <origin xyz="0 0 1" rpy="0 0 0"/>
   <axis xyz="0 1 0"/>
   <limit effort="10.0" lower="0.0" upper="2.0" velocity="0.5"/>
   <dynamics damping="1.0"/>
 </joint>

effort 力矩限制 单位n*m
velosity rad/s
damping 摩擦系数

gazebo

利用命令行加载模型
先运行

 rosrun gazebo_ros gazebo

再运行
在这里插入图片描述
gazebo本身提供多种服务
以下程序就是利用各种服务,并将服务转化为话题发布出去,便于rqt_plot各种信息
先运行launch文件

<launch>
  <param name="robot_description" 
   textfile="$(find minimal_robot_description)/minimal_robot_description.urdf"/>

  <!-- Spawn a robot into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 
     args="-param robot_description -urdf -model one_DOF_robot" />
</launch>

the minimal_robot_description.urdf

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

<!-- Used for fixing robot to Gazebo 'base_link' -->
  <link name="world"/>

  <joint name="glue_robot_to_world" type="fixed">
    <parent link="world"/>
    <child link="link1"/>
  </joint>

 <!-- Base Link -->
  <link name="link1">
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
       <box size="0.2 0.2 0.7"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.2 0.2 1"/>
      </geometry>
    </visual>

    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="0.0" ixz="0.0"
        iyy="1.0" iyz="0.0"
        izz="1.0"/>
    </inertial>
  </link>

<!-- Moveable Link -->
  <link name="link2">
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder length="1" radius="0.1"/>
        <!--box size="0.15 0.15 0.8"-->
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder length="1" radius="0.1"/>
      </geometry>
    </visual>

    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="0.1" ixy="0.0" ixz="0.0"
        iyy="0.1" iyz="0.0"
        izz="0.005"/>
    </inertial>
  </link>

  <joint name="joint1" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0 1" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
</robot>



#include <ros/ros.h> //ALWAYS need to include this
#include <gazebo_msgs/GetModelState.h>
#include <gazebo_msgs/ApplyJointEffort.h>
#include <gazebo_msgs/GetJointProperties.h>
#include <sensor_msgs/JointState.h>
#include <string.h>
#include <stdio.h>  
#include <std_msgs/Float64.h>
#include <math.h>

//some "magic number" global params:
const double Kp = 10.0; //controller gains
const double Kv = 3;
const double dt = 0.01;

//a simple saturation function; provide saturation threshold, sat_val, and arg to be saturated, val

double sat(double val, double sat_val) {
    if (val > sat_val)
        return (sat_val);
    if (val< -sat_val)
        return (-sat_val);
    return val;

}

double min_periodicity(double theta_val) {
    double periodic_val = theta_val;
    while (periodic_val > M_PI) {
        periodic_val -= 2 * M_PI;
    }
    while (periodic_val< -M_PI) {
        periodic_val += 2 * M_PI;
    }
    return periodic_val;
}

double g_pos_cmd = 0.0; //position command input-- global var

void posCmdCB(const std_msgs::Float64& pos_cmd_msg) {
    ROS_INFO("received value of pos_cmd is: %f", pos_cmd_msg.data);
    g_pos_cmd = pos_cmd_msg.data;
}

bool test_services() {
    bool service_ready = false;
    if (!ros::service::exists("/gazebo/apply_joint_effort", true)) {
        ROS_WARN("waiting for apply_joint_effort service");
        return false;
    }
    if (!ros::service::exists("/gazebo/get_joint_properties", true)) {
        ROS_WARN("waiting for /gazebo/get_joint_properties service");
        return false;
    }
    ROS_INFO("services are ready");
    return true;
}

int main(int argc, char **argv) {
    //initializations:
    ros::init(argc, argv, "minimal_joint_controller");
    ros::NodeHandle nh;
    ros::Duration half_sec(0.5);

    // make sure services are available before attempting to proceed, else node will crash
    while (!test_services()) {
        ros::spinOnce();
        half_sec.sleep();
    }

    ros::ServiceClient set_trq_client =
            nh.serviceClient<gazebo_msgs::ApplyJointEffort>("/gazebo/apply_joint_effort");
    ros::ServiceClient get_jnt_state_client =
            nh.serviceClient<gazebo_msgs::GetJointProperties>("/gazebo/get_joint_properties");

    gazebo_msgs::ApplyJointEffort effort_cmd_srv_msg;
    gazebo_msgs::GetJointProperties get_joint_state_srv_msg;

    ros::Publisher trq_publisher = nh.advertise<std_msgs::Float64>("jnt_trq", 1);
    ros::Publisher vel_publisher = nh.advertise<std_msgs::Float64>("jnt_vel", 1);
    ros::Publisher pos_publisher = nh.advertise<std_msgs::Float64>("jnt_pos", 1);
    ros::Publisher joint_state_publisher = nh.advertise<sensor_msgs::JointState>("joint_states", 1);
    ros::Subscriber pos_cmd_subscriber = nh.subscribe("pos_cmd", 1, posCmdCB);

    std_msgs::Float64 trq_msg, q1_msg, q1dot_msg;
    double q1, q1dot, q1_err, trq_cmd;
    sensor_msgs::JointState joint_state_msg;
    ros::Duration duration(dt);
    ros::Rate rate_timer(1 / dt);

    effort_cmd_srv_msg.request.joint_name = "joint1";
    effort_cmd_srv_msg.request.effort = 0.0;
    effort_cmd_srv_msg.request.duration = duration;
    get_joint_state_srv_msg.request.joint_name = "joint1";

    // set up the joint_state_msg fields to define a single joint,
    // called joint1, and initial position and vel values of 0
    joint_state_msg.header.stamp = ros::Time::now();
    joint_state_msg.name.push_back("joint1");
    joint_state_msg.position.push_back(0.0);
    joint_state_msg.velocity.push_back(0.0);
    
    //here is the main controller loop:
    while (ros::ok()) { 
        get_jnt_state_client.call(get_joint_state_srv_msg);
        q1 = get_joint_state_srv_msg.response.position[0];
        q1_msg.data = q1;
        pos_publisher.publish(q1_msg); //republish his val on topic jnt_pos

        q1dot = get_joint_state_srv_msg.response.rate[0];
        q1dot_msg.data = q1dot;
        vel_publisher.publish(q1dot_msg);

        joint_state_msg.header.stamp = ros::Time::now();
        joint_state_msg.position[0] = q1;
        joint_state_msg.velocity[0] = q1dot;
        joint_state_publisher.publish(joint_state_msg);

        q1_err = min_periodicity(g_pos_cmd - q1); //jnt angle err; watch for periodicity

        trq_cmd = Kp * (q1_err) - Kv*q1dot;
        trq_msg.data = trq_cmd;
        trq_publisher.publish(trq_msg);

        effort_cmd_srv_msg.request.effort = trq_cmd; // send torque command to Gazebo
        set_trq_client.call(effort_cmd_srv_msg);
        //make sure service call was successful
        bool result = effort_cmd_srv_msg.response.success;
        if (!result)
            ROS_WARN("service call to apply_joint_effort failed!");
        ros::spinOnce();
        rate_timer.sleep();
    }
}

运行后运行这个就发布消息了

rostopic pub pos_cmd std_msgs/Float64 1.0

绘图

rqt_plot /jnt_pos/data /jnt_trq/data /jnt_vel/data

利用内置的plugin

就要用到文章一开头的urdf了
There are 5 steps to set a ROS Joint controller as a Gazebo plugin:

  1. Joint field: include limits for joints and torques in URDF.
  2. Transmission field: include one for each joint to be controlled.
  3. Gazebo block: insert in URDF to import libgazebo_ros_control.so
  4. Controller Params: create a YAML file that declares controller gains
  5. Start Controller: load controller params & start controller w/ launch file
the launch
<launch>
  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find minimal_robot_description)/control_config/one_dof_ctl_params.yaml" command="load"/>
  <param name="robot_description" 
     textfile="$(find minimal_robot_description)/minimal_robot_description_w_jnt_ctl.urdf"/>

  <!-- Spawn a robot into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 
     args="-param robot_description -urdf -model one_DOF_robot" />
  
  <!--start up the controller plug-ins via the controller manager -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/one_DOF_robot" args="joint_state_controller joint1_position_controller"/>
    
</launch>

the yaml

one_DOF_robot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  
  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint1
    pid: {p: 10.0, i: 10.0, d: 10.0, i_clamp_min: -10.0, i_clamp_max: 10.0}

one_DOF_robot joint1_position_controller joint1_position_controller 是自定义的 来自 urdf
发布命令
rostopic pub -r 10 /one_DOF_robot/joint1_position_controller/command std_msgs/Float64 1.0
plot

rqt_plot /one_DOF_robot/joint_states/position[0] /one_DOF_robot/joint_states/velocity[0] /one_DOF_robot/joint_states/effort[0]
删除gazebo后台程序

查看PID号(进程号)

ps aux | grep  gazebo

在这里插入图片描述

kill -9 5825

you may need to install this before

sudo apt-get install ros-indigo-joint-state-controller // This will install joint_state_controller package
sudo apt-get install ros-indigo-effort-controllers   //This will install Effort controller
sudo apt-get install ros-indigo-position-controllers   //  This will install position controllers
sudo apt-get install  ros-indigo-gazebo-ros-control
dragon in sky
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