# 改进URDF模型

#改进URDF模型

在创建URDF模型中，代码显得冗长又重复，所以本期使用xacro进行改进。（本期内容是上一期内容的延续！改进完后还可以添加传感器和摄像头进行优化。）

1、创建.xacro文件

1. 在xqrobot_description/urdf ⽂件夹下创建⼀个⽂件夹 xacro，并在该⽂件夹下创建xqrobot_base.xacro ⽂件

lzw08@ubuntu:~$ cd ros_ws_1/src/xqrobot_description/urdf
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf$ mkdir xacro
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf$ cd xacro/
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ touch xqrobot_base.xacro
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ gedit xqrobot_base.xacro

粘贴以下代码：

<?xml version="1.0"?> 
<robot name="xqrobot" xmlns:xacro="http://www.ros.org/wiki/xacro"> 
 <!-- PROPERTY LIST --> 
 <xacro:property name="M_PI" value="3.1415926"/> 
 <xacro:property name="base_radius" value="0.20"/> 
 <xacro:property name="base_length" value="0.16"/> 
 <xacro:property name="wheel_radius" value="0.06"/> 
 <xacro:property name="wheel_length" value="0.025"/> 
 <xacro:property name="wheel_joint_y" value="0.19"/>
 <xacro:property name="wheel_joint_z" value="0.05"/>
 <xacro:property name="caster_radius" value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
 <xacro:property name="caster_joint_x" value="0.18"/>
 <!-- Defining the colors used in this robot -->
 <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 robot wheel -->
 <xacro:macro name="wheel" params="prefix reflect">
 
 <joint name="${prefix}_wheel_joint" type="continuous">
 <origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
 <parent link="base_link"/>
 <child link="${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>
 </link>

 </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 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
 <parent link="base_link"/>
 <child link="${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>
 </link>
 </xacro:macro>
 <xacro:macro name="xqrobot_base">
 <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>
 <joint name="base_footprint_joint" type="fixed">
 <origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />
 <parent link="base_footprint"/>
 <child link="base_link" />
 </joint>
 <link name="base_link">
 <visual>
 <origin xyz=" 0 0 0" rpy="0 0 0" />
 <geometry>
 <cylinder length="${base_length}" radius="${base_radius}"/>
 </geometry>
 <material name="yellow" />
 </visual>
 </link>
 <wheel prefix="left" reflect="-1"/>
 <wheel prefix="right" reflect="1"/>
 <caster prefix="front" reflect="-1"/>
 <caster prefix="back" reflect="1"/>
 </xacro:macro>
 </robot>

2. 在 xqrobot_description/urdf/xacro ⽂件下创建 xqrobot.xacro ⽂件。

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ touch xqrobot.xacro
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ gedit xqrobot.xacro

粘贴以下代码：

<?xml version="1.0"?> 
<robot name="xqbot" xmlns:xacro="http://www.ros.org/wiki/xacro"> 
 <xacro:include filename="$(find xqrobot_description)/urdf/xacro/xqrobot_base.xacro"/> 
   <xqrobot_base/> 

</robot>

（xqrobot.xacro文件在后面会进行填充）

2、创建display_xqrobot_xacro.launch 文件

毋庸置疑，.launch文件都是放在launch目录下的。

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ cd ..
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf$ cd ..
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description$ cd launch/
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/launch$ touch display_xq_xacro.launch
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/launch$ gedit display_xq_xacro.launch

粘贴以下代码：

<?xml version="1.0"?> 
<launch> <arg name="model" default="$(find xacro)/xacro --inorder '$(find xqrobot_description)/urdf/xacro/xqrobot.xacro'" /> 
<arg name="gui" default="true" /> 
<param name="robot_description" command="$(arg model)" /> 
<!-- 设置 GUI 参数，显⽰关节控制插件 -->
<param name="use_gui" value="$(arg gui)"/> 
<!-- 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 xqrobot_description)/config/xqrobot_urdf.rviz" required="true" />
</launch>

到这里已经优化完成了，仅以上这些简短的代码，就可以实现跟上一期一样的效果了，可见.xacro即是.urdf的升级版。

3、运行，显示优化后的模型

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/launch$ cd ~/ros_ws_1
lzw08@ubuntu:~/ros_ws_1$ source devel/setup.bash
lzw08@ubuntu:~/ros_ws_1$ roslaunch xqrobot_description display_xq_xacro.launch

跟上一期一模一样的，不同点在于实现方式。

4、添加传感器和摄像头

在 xqrobot_description/urdf/xacro 路径下创建⼀个 sensor 的⽂件夹。

lzw08@ubuntu:~/ros_ws_1$ cd src/xqrobot_description/urdf/xacro/
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ mkdir sensors
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ cd sensors/

1. 添加传感器

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro/sensors$ touch lidar.xacro
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro/sensors$ gedit lidar.xacro

粘贴以下代码：

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

<xacro:macro name="rplidar" params="prefix:=laser"> 
<link name="${prefix}_link"> 
<visual> 
<origin xyz=" 0 0 0 " rpy="0 0 0" /> 
<geometry> 
<cylinder length="0.06" radius="0.06"/>
</geometry>
<material name="black"/>
</visual>
</link>
</xacro:macro>
</robot>

2. 添加摄像头

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro/sensors$ touch camera.xacro
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro/sensors$ gedit camera.xacro 

粘贴以下代码：

<?xml version="1.0"?> 
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera"> 
<xacro:macro name="usb_camera" params="prefix:=camera"> 
<link name="${prefix}_link"> 
<visual> 
<origin xyz=" 0 0 0 " rpy="0 0 0" /> 
<geometry> 

<box size="0.01 0.04 0.04" />
</geometry>
<material name="black"/>

</visual>
</link>
</xacro:macro>
</robot>

5、修改路径xqrobot.xacro文件

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro/sensors$ cd ..
lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ gedit xqrobot.xacro 

更改后的xqrobot.xacro文件如下所示：

<?xml version="1.0"?> 
<robot name="xqbot" xmlns:xacro="http://www.ros.org/wiki/xacro"> 
<xacro:include filename="$(find xqrobot_description)/urdf/xacro/xqrobot_base.xacro"/> 
<xqrobot_base/> 
<xacro:include filename="$(find xqrobot_description)/urdf/xacro/sensors/camera.xacro" /> 
<xacro:include filename="$(find xqrobot_description)/urdf/xacro/sensors/lidar.xacro" /> 

<xacro:property name="camera_offset_x" value="0.17" /> 
<xacro:property name="camera_offset_y" value="0" />
<xacro:property name="camera_offset_z" value="0.10" />

<xacro:property name="lidar_offset_x" value="0" />
<xacro:property name="lidar_offset_y" value="0" />
<xacro:property name="lidar_offset_z" value="0.105" />

<joint name="camera_joint" type="fixed">
<origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="camera_link"/>
</joint>

<joint name="lidar_joint" type="fixed">
<origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="laser_link"/>
</joint>

<xacro:usb_camera prefix="camera"/>
<xacro:rplidar prefix="laser"/>

</robot>

6、运行 display_xq_xacro.launch 文件查看机器人模型

lzw08@ubuntu:~/ros_ws_1/src/xqrobot_description/urdf/xacro$ cd ~/ros_ws_1
lzw08@ubuntu:~/ros_ws_1$ roslaunch xqrobot_description display_xq_xacro.launch 

7、下期见咯 ~

附本人 实践报告五（仅供参考，请勿他用）