之前的博客中,我们使用rviz进行了TurtleBot的仿真,而且使用urdf文件建立了自己的机器人smartcar,本篇博客是将两者进行结合,使用smartcar机器人在rviz中进行仿真。
一、模型完善
之前我们使用的都是urdf文件格式的模型,在很多情况下,ROS对urdf文件的支持并不是很好,使用宏定义的.xacro文件兼容性更好,扩展性也更好。所以我们把之前的urdf文件重新整理编写成.xacro文件。
.xacro文件主要分为三部分:
.xacro文件主要分为三部分:
1、机器人主体
- <?xml version="1.0"?>
- <robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro">
- <property name="M_PI" value="3.14159"/>
- <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect -->
- <include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/>
- <property name="base_x" value="0.33" />
- <property name="base_y" value="0.33" />
- <xacro:macro name="smartcar_body">
- <link name="base_link">
- <inertial>
- <origin xyz="0 0 0.055"/>
- <mass value="1.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <geometry>
- <box size="0.25 .16 .05"/>
- </geometry>
- <origin rpy="0 0 0" xyz="0 0 0.055"/>
- <material name="blue">
- <color rgba="0 0 .8 1"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.055"/>
- <geometry>
- <box size="0.25 .16 .05" />
- </geometry>
- </collision>
- </link>
- <link name="left_front_wheel">
- <inertial>
- <origin xyz="0.08 0.08 0.025"/>
- <mass value="0.1" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- </collision>
- </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 1.57075" xyz="0.08 0.08 0.025"/>
- <limit effort="100" velocity="100"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint>
- <link name="right_front_wheel">
- <inertial>
- <origin xyz="0.08 -0.08 0.025"/>
- <mass value="0.1" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- </collision>
- </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 1.57075" xyz="0.08 -0.08 0.025"/>
- <limit effort="100" velocity="100"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint>
- <link name="left_back_wheel">
- <inertial>
- <origin xyz="-0.08 0.08 0.025"/>
- <mass value="0.1" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- </collision>
- </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 1.57075" xyz="-0.08 0.08 0.025"/>
- <limit effort="100" velocity="100"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint>
- <link name="right_back_wheel">
- <inertial>
- <origin xyz="-0.08 -0.08 0.025"/>
- <mass value="0.1" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- </collision>
- </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 1.57075" xyz="-0.08 -0.08 0.025"/>
- <limit effort="100" velocity="100"/>
- <joint_properties damping="0.0" friction="0.0"/>
- </joint>
- <link name="head">
- <inertial>
- <origin xyz="0.08 0 0.08"/>
- <mass value="0.1" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <geometry>
- <box size=".02 .03 .03"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0.08 0 0.08"/>
- <geometry>
- <cylinder length=".02" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="tobox" type="fixed">
- <parent link="base_link"/>
- <child link="head"/>
- <origin xyz="0.08 0 0.08"/>
- </joint>
- </xacro:macro>
- </robot>
2、gazebo属性部分
- <?xml version="1.0"?>
- <robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:xacro="http://ros.org/wiki/xacro"
- name="smartcar_gazebo">
- <!-- ASUS Xtion PRO camera for simulation -->
- <!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package -->
- <xacro:macro name="smartcar_sim">
- <gazebo reference="base_link">
- <material>Gazebo/Blue</material>
- </gazebo>
- <gazebo reference="right_front_wheel">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="right_back_wheel">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="left_front_wheel">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="left_back_wheel">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="head">
- <material>Gazebo/White</material>
- </gazebo>
- </xacro:macro>
- </robot>
3、主文件
- <span style="font-size:14px;"><?xml version="1.0"?>
- <robot name="smartcar"
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
- xmlns:xacro="http://ros.org/wiki/xacro">
- <include filename="$(find smartcar_description)/urdf/smartcar_body.urdf.xacro" />
- <!-- Body of SmartCar, with plates, standoffs and Create (including sim sensors) -->
- <smartcar_body/>
- <smartcar_sim/>
- </robot></span>
在launch文件中要启动节点和模拟器。
- <launch>
- <param name="/use_sim_time" value="false" />
- <!-- Load the URDF/Xacro model of our robot -->
- <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find smartcar_description)/urdf/smartcar.urdf.xacro'" />
- <arg name="gui" default="false" />
- <param name="robot_description" command="$(arg urdf_file)" />
- <param name="use_gui" value="$(arg gui)"/>
- <node name="arbotix" pkg="arbotix_python" type="driver.py" output="screen">
- <rosparam file="$(find smartcar_description)/config/smartcar_arbotix.yaml" command="load" />
- <param name="sim" value="true"/>
- </node>
- <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">
- <param name="publish_frequency" type="double" value="20.0" />
- </node>
- <!-- We need a static transforms for the wheels -->
- <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" />
- <node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" />
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/urdf.vcg" />
- </launch>
三、仿真测试
首先运行lanuch,既可以看到rviz中的机器人: