ROS章第六章作业

ROS第六章作业

第一题

本次作业只需把古月居提供的模板中的model改为自己的就行。
在mobot_description下面的urdf文件夹mbot_base_gazebo.xacro中把模型改为自己的模型，本次我是把他原来的圆柱体二轮驱动小车改为长方体两轮小车。mbot_base_gazebo.xacro代码如下：

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- PROPERTY LIST -->
    <xacro:property name="M_PI" value="3.1415926"/>
    <xacro:property name="base_mass"   value="0.02" /> 
    <xacro:property name="base_length" value="0.3"/>
    <xacro:property name="base_width" value="0.3"/>
    <xacro:property name="base_tall" value="0.02"/>

    <xacro:property name="wheel_mass"   value="0.02" />
    <xacro:property name="wheel_radius" value="0.05"/>
    <xacro:property name="wheel_length" value="0.02"/>
    <xacro:property name="wheel_joint_x" value="0.1"/>
    <xacro:property name="wheel_joint_y" value="0.15"/>
    <xacro:property name="wheel_joint_z" value="0"/>

    <xacro:property name="caster_mass"    value="0.001" /> 
    <xacro:property name="caster_radius"  value="0.02"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
    <xacro:property name="caster_joint_x" value="0.12"/>
    <xacro:property name="caster_joint_z" value="0.03"/>
    <!-- Defining the colors used in this  -->
    <material name="yellow">
        <color rgba="1 0.4 0 1"/>
    </material>
    <material name="black">
        <color rgba="0 0 0 0.95"/>
    </material>
    <material name="gray">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>
    
    <!-- Macro for inertia matrix -->
    <xacro:macro name="sphere_inertial_matrix" params="m r">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
                iyy="${2*m*r*r/5}" iyz="0" 
                izz="${2*m*r*r/5}" />
        </inertial>
    </xacro:macro>

    <xacro:macro name="cylinder_inertial_matrix" params="m r h">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
                iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
                izz="${m*r*r/2}" /> 
        </inertial>
    </xacro:macro>

    <xacro:macro name="box_inertial_matrix" params="m x y z">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
                iyy="${m*(x*x+z*z)/12}" iyz = "0"
                izz="${m*(x*x+y*y)/12}" /> 
        </inertial>
    </xacro:macro>
    <!-- Macro for robot wheel -->
    <xacro:macro name="wheel" params="prefix reflect">
        <joint name="${prefix}_wheel_joint" type="continuous">
            <origin xyz="${-wheel_joint_x} ${reflect*wheel_joint_y*(-1)} ${wheel_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix}_wheel_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix}_wheel_link">
            <visual>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                </geometry>
                <material name="gray" />
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                </geometry>
            </collision>
            <cylinder_inertial_matrix m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
        </link>

        <gazebo reference="${prefix}_wheel_link">
            <material>Gazebo/Gray</material>
        </gazebo>

        <!-- Transmission is important to link the joints and the controller -->
        <transmission name="${prefix}_wheel_joint_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${prefix}_wheel_joint" >
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            </joint>
            <actuator name="${prefix}_wheel_joint_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>

    <!-- Macro for robot caster -->
    <xacro:macro name="caster" params="prefix reflect">
        <joint name="${prefix}_caster_joint" type="continuous">
            <origin xyz="${reflect*caster_joint_x} 0 ${-caster_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix}_caster_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix}_caster_link">
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                    <sphere radius="${caster_radius}" />
                </geometry>
                <material name="black" />
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                    <sphere radius="${caster_radius}" />
                </geometry>
            </collision>      
            <sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" />
        </link>

        <gazebo reference="${prefix}_caster_link">
            <material>Gazebo/Black</material>
        </gazebo>
    </xacro:macro>

    <xacro:macro name="mbot_base_gazebo">
        <link name="base_footprint">
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="0.001 0.001 0.001" />
                </geometry>
            </visual>
        </link>
        <gazebo reference="base_footprint">
            <turnGravityOff>false</turnGravityOff>
        </gazebo>

        <joint name="base_footprint_joint" type="fixed">
            <origin xyz="0 0 ${base_tall/2 + caster_radius*2}" rpy="0 0 0" />        
            <parent link="base_footprint"/>
            <child link="base_link" />
        </joint>

        <link name="base_link">
            <visual>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="${base_length} ${base_width} ${base_tall}"/>
                </geometry>
                <material name="yellow" />
            </visual>
            <collision>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="${base_length} ${base_width} ${base_tall}"/>
                </geometry>
            </collision>   
           <box_inertial_matrix  m="${base_mass}" x="${base_length}" y="${base_width}" z="${base_tall}" />
        </link>

        <gazebo reference="base_link">
            <material>Gazebo/Blue</material>
        </gazebo>

        <wheel prefix="left"  reflect="-1"/>
        <wheel prefix="right" reflect="1"/>

        <caster prefix="front" reflect="1"/>

        <!-- controller -->
        <gazebo>
            <plugin name="differential_drive_controller" 
                    filename="libgazebo_ros_diff_drive.so">
                <rosDebugLevel>Debug</rosDebugLevel>
                <publishWheelTF>true</publishWheelTF>
                <robotNamespace>/</robotNamespace>
                <publishTf>1</publishTf>
                <publishWheelJointState>true</publishWheelJointState>
                <alwaysOn>true</alwaysOn>
                <updateRate>100.0</updateRate>
                <legacyMode>true</legacyMode>
                <leftJoint>left_wheel_joint</leftJoint>
                <rightJoint>right_wheel_joint</rightJoint>
                <wheelSeparation>${wheel_joint_y*2}</wheelSeparation>
                <wheelDiameter>${2*wheel_radius}</wheelDiameter>
                <broadcastTF>1</broadcastTF>
                <wheelTorque>30</wheelTorque>
                <wheelAcceleration>1.8</wheelAcceleration>
                <commandTopic>cmd_vel</commandTopic>
                <odometryFrame>odom</odometryFrame> 
                <odometryTopic>odom</odometryTopic> 
                <robotBaseFrame>base_footprint</robotBaseFrame>
            </plugin>
        </gazebo> 
    </xacro:macro>

</robot>

然后把这三个文件放入自己的catkin_ws的src文件下。

用catin_make在catkin_ws目录下编译，让catkin_ws发现这三个功能包。
然后在catkin_ws下：roslaunch mbot_gazebo view_mbot_gazebo_empty_world1.launch
得到显示界面：

然后在另外一个终端输入：

roslaunch mbot_teleop mbot_teleop.launch 

然后在这个终端保持界面下：按j为旋转，i为前进,k为停止。
注意：最好把自己的catkin_ws添加到.bashrc这个文件里面，输入命令的时候好Tap出来。

第二题

carema传感器显示

在终端输入

 roslaunch mbot_gazebo view_mbot_with_camera_gazebo.launch

在终端中运行rqt_image_view

RGB-D摄像头显示

在终端输入：roslaunch mbot_gazebo view_mbot_with_kinect_gazebo.launch

在rviz中显示

Lidar显示

在终端输入：
roslaunch mbot_gazebo view_mbot_with_laser_gazebo.launch

在rviz中显示