一、语法检查工具:
check_urdf
sudo apt install liburdfdom-tools
使用方法:进入对应的需要检查语法错误的urdf文件目录
check_urdf xxxx.urdf
附上ROS——urdf官方文档
ROS官方文档http://wiki.ros.org/urdf/XML
二、可视化
urdf_to_graphiz
使用方法:进入对应的需要检查语法错误的urdf文件目录
urdf_to_graphiz xxxx.urdf
三、具体语法
- sensor/proposals
传感器描述,如相机和雷达等 - link
描述连杆的运动学参数和动态参数 - transmission
描述关节和驱动器之间的转换关系 - joint
描述关节的运动学参数和动态参数 - gazebo
描述仿真内容,如阻尼和摩擦等 - sensor
传感器描述,如相机和雷达等 - model_state
描述模型当前状态 - model
描述模型运动学参数和动态参数
urdf建模
一、创建功能包
cd ./catkin_ws/src/
catkin_create_pkg mbot_description urdf xacro
创建功能包的文件结构
cd ~/catkin_ws/src/mbot_description
mkdir urdf
mkdir meshes
mkdir launch
mkdir config
编辑launch启动文件
cd ~/catkin_ws/src/mbot_description/launch
sudo gedit display_mbot_base_urdf.launch
<launch>
<!-- 加载的参数名字叫robot_description,具体内容是urdf相关模型的路径 -->
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_base.urdf" />
<!-- 设置GUI参数,显示关节控制插件 -->
<param name="use_gui" value="true"/>
<!-- 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" />
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- 运行rviz可视化界面,保存每次打开之后的相关插件,保存到config文件夹下面 -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>
下面开始创建四轮圆柱式机器人模型
- 进入 urdf 文件夹下,创建 mbot_base.urdf
cd ~/catkin_ws/src/mbot_description/urdf sudo gedit mbot_base.urdf
<?xml version="1.0" ?> <robot name="mbot"> <link name="base_link"> <visual> <origin xyz=" 0 0 0" rpy="0 0 0" /> <!-- link坐标位置,放在最中央 ,xyz单位是米,rpy单位是弧度--> <geometry> <cylinder length="0.16" radius="0.20"/> </geometry> <!-- 机器人的外观效果,使用圆柱体,高0.16,半径0.20 --> <material name="yellow"> <color rgba="1 0.4 0 1"/> </material> <!-- 通过rgba来描述颜色,颜色命名为yellow,a为1是不透明--> </visual> <!--visual指的是一些物理属性的标签 --> </link> </robot>
注意代码实际写入后需要删除注释内容,防止运行报错
-
查看模型
-
roslaunch mbot_description display_mbot_base_urdf.launch
注意:我碰到的错误如下
解决方法:将mrobot_description功能包下launch文件夹中display_mrobot_chassis_urdf.launch这个launch文件里面的运行robot_state_publisher节点下的type由type="state_publisher"改为type=“robot_state_publisher”
其他错误解决方法:
-
一、
-
ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
-
ROS path [0]=/opt/ros/kinetic/share/ros
-
ROS path [1]=/home/wxw/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share -
sudo apt-get install ros-noetic-robot-state-publisher //下载完成后更新软件源 sudo apt-get update
二、
-
sudo apt-get install ros-noetic-joint-state-publisher-gui
根据自己的ros版本更新GUI插件
-
三、
一切正常启动但是rviz界面不显示小车底盘模型
创建车轮
sudo gedit mbot_base.urdf
//在urdf下创建mbot_base.urdf文件
<joint name="left_wheel_joint" type="continuous">
<!-- joint名字为left_wheel_joint,属性为continuous,即无限旋转-->
<origin xyz="0 0.19 -0.05" rpy="0 0 0"/>
<!-- 坐标位置,在base_link基础上,Y偏移0.19,z偏移-0.05-->
<parent link="base_link"/>
<child link="left_wheel_link"/>
<!-- 主关节:base_link,上面的圆柱形车体-->
<!-- 子关节:left_wheel_link,左轮-->
<!-- 主关节最后是一个,本代码是base_link-->
<axis xyz="0 1 0"/>
<!--left_wheel_link绕某一个轴做旋转,指定为Y轴 -->
</joint>
<!--joint用来连接两个link-->
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<!--左轮信息-->
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.19 -0.05" rpy="0 0 0"/>
<!-- 坐标位置,在base_link基础上,Y偏移-0.19,z偏移-0.05,与左轮正好相反-->
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<!--右轮信息-->
<joint name="front_caster_joint" type="continuous">
<origin xyz="0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
<!--用圆形轮子代替 -->
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="back_caster_joint" type="continuous">
<origin xyz="-0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="back_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<!--前后万向轮信息-->
使用check_urdf 命令检查mbot_base.urdf 语法是否存在错误
使用roslaunch 命令查看模型
roslaunch mbot_description display_mbot_base_urdf.launch
注意此时若不显示模型,请参考上文错误三解决方法
结果如下
向小车模型增添摄像头
跟创建小车基本模型操作相同,进入urdf文件下创建一个名为mbot_with_camera.urdf 的文件并且添加代码模块
cd ~/catkin_ws/src/mbot_description/urdf
sudo gedit mbot_with_camera.urdf
摄像头模块代码
<!--摄像头模块-->
<link name="camera_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.03 0.04 0.04" />
<!--外观是个盒子模拟成摄像头,长宽高分别是0.03 0.04 0.04-->
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.17 0 0.10" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
然后进入launch 文件下创建并编辑 display_mbot_with_camera_urdf.launch
cd ~/catkin_ws/src/mbot_description/launch
sudo gedit display_mbot_with_camera_urdf.launch
<!--
<launch>
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_with_camera.urdf" />
<param name="use_gui" value="true"/>
<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 $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>
--!>
新创建的launch 文件相比较于一开始小车基本模型的启动文件(display_mbot_base_urdf.launch)
只是修改了文件的启动路径,使用新创建的launch文件对应增添过摄像头模块的urdf文件进行启动
roslaunch mbot_description display_mbot_with_camera_urdf.launch
而相对应的 urdf 文件也需要进行增添:
<?xml version="1.0" ?>
<robot name="mbot">
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.16" radius="0.20"/>
</geometry>
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin xyz="0 0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="front_caster_joint" type="continuous">
<origin xyz="0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="back_caster_joint" type="continuous">
<origin xyz="-0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="back_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
//增添的摄像头模块
<link name="camera_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.03 0.04 0.04" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.17 0 0.10" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
</robot>
加入雷达模块
同样的进入urdf文件下创建mbot_with_laser.urdf文件
cd ./catkin_ws/src/mbot_description/urdf
sudo gedit mbot_with_laser.urdf
添加雷达模块的构建代码
<link name="laser_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0 0 0.105" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="laser_link"/>
</joint>
</robot>
进入launch文件下创建编辑新的对应启动文件
cd ./catkin_ws/src/mbot_description/launch
sudo gedit display_mbot_with_laser_urdf.launch
<launch>
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_with_laser.urdf" />
<param name="use_gui" value="true"/>
<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 $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>
加入Kinect模块
操作相同此外不再赘述
cd ./catkin_ws/src/mbot_description/urdf
sudo gedit mbot_with_kinect.urdf
<link name="kinect_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<geometry>
<mesh filename="package://mbot_description/meshes/kinect.dae" />
</geometry>
</visual>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0.15 0 0.11" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="kinect_link"/>
</joint>
</robot>
创建对应启动文件
cd ./catkin_ws/src/mbot_description/launch
sudo gedit mbot_with_kinect.launch
<launch>
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_with_kinect.urdf" />
<param name="use_gui" value="true"/>
<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 $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>
查看整体效果
roslaunch mbot_description mbot_with_kinect.launch
由于我将所有模块都进行增添,所以我的模型如下
cd .././urdf
sudo gedit mbot_base_whole.urdf
???
<?xml version="1.0" ?>
<robot name="mbot">
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.16" radius="0.20"/>
</geometry>
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin xyz="0 0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="front_caster_joint" type="continuous">
<origin xyz="0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="back_caster_joint" type="continuous">
<origin xyz="-0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="back_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<link name="kinect_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<geometry>
<mesh filename="package://mbot_description/meshes/kinect.dae" />
</geometry>
</visual>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0.15 0 0.11" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="kinect_link"/>
</joint>
</robot>
<?xml version="1.0" ?>
<robot name="mbot">
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.16" radius="0.20"/>
</geometry>
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin xyz="0 0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="front_caster_joint" type="continuous">
<origin xyz="0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="back_caster_joint" type="continuous">
<origin xyz="-0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="back_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<link name="camera_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.03 0.04 0.04" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.17 0 0.10" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="laser_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0 0 0.105" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="laser_link"/>
</joint>
<link name="kinect_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<geometry>
<mesh filename="package://mbot_description/meshes/kinect.dae" />
</geometry>
</visual>
</link>
<joint name="kinect_joint" type="fixed">
<origin xyz="0.15 0 0.11" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="kinect_link"/>
</joint>
</robot>
进入launch创建对应启动文件
sudo gedit display_mbot_with_whole.launch
<launch>
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_with_whole.urdf" />
<param name="use_gui" value="true"/>
<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 $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>
查看模型
roslaunch mbot_description display_mbot_with_whole_urdf.launch