ROS仿真小车模型的搭建

sample_sai_robot.urdf

<?xml version="1.0"?>
<robot name="sai_robot">
    <link name="base_link" />

    <link name="robot_body_layer">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.25" length="0.01"/>
            </geometry>

            <material name="yellow">
                <color rgba="1 0.4 0.0 1.0"/>
            </material>

        </visual>

    </link>

    <joint name="dummy_joint" type="fixed">
        <origin xyz="0.0 0.0 0.095" rpy="0.0 0.0 0.0"/>
        <parent link="base_link"/>
        <child link="robot_body_layer"/>

    </joint>

    <link name="left_motor_link">
        <visual>
            <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.02" length="0.08"/>
            </geometry>

            <material name="gray">
                <color rgba="0.75 0.75 0.75 1.0"/>
            </material>

        </visual>
    </link>

    <link name="right_motor_link">
        <visual>
            <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.02" length="0.08"/>
            </geometry>
            <material name="gray" />
        </visual>

    </link>

    <joint name="left_motor_join" type="fixed">
        <origin xyz="0.125 0.22 -0.025" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="left_motor_link"/>
    </joint>

    <joint name="right_motor_join" type="fixed">
        <origin xyz="0.125 -0.22 -0.025" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="right_motor_link"/>
    </joint>

    <link name="left_wheel_link">
        <visual>
            <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.07" length="0.04"/>
            </geometry>

            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0"/>
            </material>

        </visual>

    </link>

    <link name="right_wheel_link">
        <visual>
            <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.07" length="0.04"/>

            </geometry>

            <material name="black" />

        </visual>

    </link>

    <joint name="left_wheel_joint" type="continuous">
        <origin xyz="0.0 0.06 0.0" rpy="0.0 0.0 0.0"/>
        <parent link="left_motor_link"/>
        <child link="left_wheel_link"/>
        <axis xyz="0.0 1.0 0.0"/>
    </joint>

    <joint name="right_wheel_joint" type="continuous">
        <origin xyz="0.0 -0.06 0.0" rpy="0.0 0.0 0.0"/>
        <parent link="right_motor_link"/>
        <child link="right_wheel_link"/>
        <axis xyz="0.0 1.0 0.0"/>
    </joint>

    <link name="caster_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <sphere radius="0.045"/>
            </geometry>

            <material name="black" />
        </visual>
    </link>

    <joint name="caster_joint" type="fixed">
        <origin xyz=" -0.125 0.0 -0.05" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="caster_link"/>
    </joint>

    <link name="imu_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.1 0.1 0.01"/>
            </geometry>
            <material name="green">
                <color rgba="0.42 0.54 0.45 1.0"/>
            </material>

        </visual>

    </link>

    <joint name="imu_joint" type="fixed">
        <origin xyz=" -0.125 0.0 0.01" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="imu_link"/>
    </joint>

    <link name="laser_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.05" length="0.05"/>
            </geometry>

            <material name="blue">
                <color rgba="0.0 0.0 1.0 1.0"/>
            </material>

        </visual>

    </link>

    <joint name="laser_joint" type="fixed">
        <origin xyz="0.0 0.0 0.03" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="laser_link"/>
    </joint>

    <link name="camera_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.03 0.15 0.02"/>
            </geometry>

            <material name="gold">
                <color rgba="0.9 0.9 0.1 1.0"/>
            </material>

        </visual>
    </link>

    <joint name="camera_joint" type="fixed">
        <origin xyz="0.18 0.0 0.015" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="camera_link"/>
    </joint>

    <link name="us_back_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.01 0.02 0.04"/>
            </geometry>

            <material name="red">
                <color rgba="0.71 0.54 0.75 1.0"/>
            </material>

        </visual>

    </link>

    <link name="us_front_left_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.01 0.02 0.04"/>
            </geometry>

            <material name="red" />
        </visual>

    </link>

    <link name="us_front_right_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
                <geometry>
                    <box size="0.01 0.02 0.04"/>
                </geometry>

                <material name="red" />
        </visual>

    </link>

    <joint name="us_back_joint" type="fixed">
        <origin xyz=" -0.2 0.0 0.025" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="us_back_link"/>
    </joint>

    <joint name="us_front_left_joint" type="fixed">
        <origin xyz="0.18 0.12 0.025" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="us_front_left_link"/>
    </joint>

    <joint name="us_front_right_joint" type="fixed">
        <origin xyz="0.18 -0.12 0.025" rpy="0.0 0.0 0.0"/>
        <parent link="robot_body_layer"/>
        <child link="us_front_right_link"/>
    </joint>

    </robot >

simple_model_display.launch

<launch>
    <arg name="model"
        default="$(find begin1)/urdf/simple_sai_robot.urdf"/>
    <arg name="rvizconfig"
        default="$(find begin1)/rviz/simple_model.rviz" />

    <arg name="gui" default="true" />

    <param name="robot_description"
        command="$(find xacro)/xacro $(arg model)" />
    
    <node if="$(arg gui)" name="joint_state_publisher_gui"
        pkg="joint_state_publisher_gui"
        type="joint_state_publisher_gui" />

    <node unless="$(arg gui)" 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 $(arg rvizconfig)"
        required="true" />
</launch>

注意：第3行和第5行填自己的功能包名称
还有

# package.xml文 件
 ...
 <build_depend>urdf </build_depend>
 <build_depend>xacro </build_depend>
 ...
 <build_export_depend>urdf </build_export_depend>
 <build_export_depend>xacro </build_export_depend>
 ...
 <exec_depend>urdf </exec_depend>
 <exec_depend>xacro </exec_depend>

# CMakeLists .txt文 件
 find_package (catkin REQUIRED COMPONENTS
 ...
 urdf
 xacro
 )

 catkin_package (
 ...
 ... urdf xacro
 ...
 )

启动launch文件

roslaunch begin1 simple_model_display.launch