ROS创建URDF

0 前面

sudo apt-get install  ros-melodic-urdf
sudo apt-get install  ros-melodic-xacro 

1 创建包

catkin_create_pkg littleCar_description urdf xacro

四个文件

cd littleCar_description
mkdir urdf launch meshes config

2 编辑URDF文件
底盘描述

cd urdf
gedit littleCar_chassis.urdf

<robot>：
<link>：支杆
<joint>：关节

<?xml version="1.0" ?>
<robot name="littleCar_chassis">
	<link name="base_link">
		<visual>
			<origin xyz=" 0 0 0" rpy="0 0 0" />
			<geometry>
				<cylinder length="0.005" radius="0.13"/>
			</geometry>
			<material name="yellow">
				<color rgba="1 0.4 0 1"/>
			</material>
		</visual>
	</link>
</robot>

关节类型：

关节类型	描述
continuous	旋转关节，可以围绕单轴无限旋转
revolute	旋转关节，类似continuous，但是有旋转角度极限
prismatic	滑动关节，沿某一轴线移动的关节，带有位置极限
planar	平面关节，允许在平面正交方向上平移或者旋转
floating	浮动关节，允许进行平移、旋转运动
fixed	固定关节，不允许运动的特殊关节

3 launch文件
display_littleCar_chassis_urdf.launch

<launch>
	<param name="robot_description" textfile="$(find littleCar_description)/urdf/littleCar_chassis.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 -->
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find littleCar_description)/config/littleCar_urdf.rviz" />
</launch>

source devel/setup.bash 
roslaunch littleCar_description display_littleCar_chassis_urdf.launch 

报警告

[ WARN] [1597978761.868620005]: The ‘state_publisher’ executable is deprecated. Please use ‘robot_state_publisher’ instead
[WARN] [1597978762.278786, 0.000000]: The ‘use_gui’ parameter was specified, which is deprecated. We’ll attempt to find and run the GUI, but if this fails you should install the ‘joint_state_publisher_gui’ package instead and run that. This backwards compatibility option will be removed in Noetic.

解决

sudo apt-get install ros-melodic-joint-state-publisher-gui 

修改launch

<launch>
	<param name="robot_description" textfile="$(find littleCar_description)/urdf/littleCar_chassis.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_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />

	<!-- 运行robot_state_publisher节点,发布TF -->
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

	<!-- 运行rviz可视化界面 -->
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find littleCar_description)/config/littleCar_urdf.rviz" />
</launch>

4 rviz
修改为base_link
添加机器人
添加TF
将rviz设置另存为littleCar_urdf.rviz到config文件