Gazebo中的小车做圆周运动

Gazebo 插件配置

<!-- package.xml文 件 配 置 -->
 ...
 <build_depend >gazebo_plugins </build_depend >
 <build_depend >gazebo_ros </build_depend >
 <build_depend >gazebo_ros_control </build_depend >
 ...
 <build_export_depend >gazebo_plugins </build_export_depend >
 <build_export_depend >gazebo_ros </build_export_depend >
 <build_export_depend >gazebo_ros_control </build_export_depend >

 <exec_depend >gazebo_plugins </ exec_depend >
 <exec_depend >gazebo_ros </ exec_depend >
 <exec_depend >gazebo_ros_control </ exec_depend >

 <!-- CMakeLists.txt文 件 配 置 -->
 find_package (catkin REQUIRED COMPONENTS
 ...
 gazebo_plugins
 gazebo_ros
 gazebo_ros_control
 )

 catkin_package (
 ...
 CATKIN_DEPENDS ... gazebo_plugins gazebo_ros gazebo_ros_control
 ...
 )

sample_sai_robot2.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 >
 <collision >
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <geometry >
    <cylinder radius="0.25" length="0.01"/>
 </geometry >
 </collision >
 <inertial >
 <mass value="0.5"/>
 <inertia ixx="0.00782" ixy="0" ixz="0"
 iyy="0.00782" iyz="0" izz="0.01563"/>
 </inertial >
</link >
<gazebo reference ="robot_body_layer">
 <material >Gazebo/Orange </material >
 </gazebo >

 <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 >
 <collision>
 <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
 <geometry >
 <cylinder radius="0.02" length="0.08"/>
 </geometry >
 </collision >
 <inertial >
 <mass value="0.1"/>
 <inertia ixx="0.00006" ixy="0" ixz="0"
 iyy="0.00006" iyz="0" izz="0.00002"/>
 </inertial >
 </link >

 <gazebo reference ="left_motor_link">
 <material >Gazebo/Grey</material >
 </gazebo >

 <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 >
 <collision >
 <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
 <geometry >
 <cylinder radius="0.02" length="0.08"/>
 </geometry >
 </collision >
 <inertial >
 <mass value="0.1"/>
 <inertia ixx="0.00006" ixy="0" ixz="0"
 iyy="0.00006" iyz="0" izz="0.00002"/>
 </inertial >
 </link >

 <gazebo reference ="right_motor_link">
 <material >Gazebo/Grey </material >
 </gazebo >

 <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 >
    <collision >
    <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
    <geometry >
    <cylinder radius="0.07" length="0.04"/>
    </geometry >
    </collision >
    <inertial >
    <mass value="0.1"/>
    <inertia ixx="0.00014" ixy="0" ixz="0"
    iyy="0.00014" iyz="0" izz="0.00025"/>
    </inertial >
 </link >

 <gazebo reference ="left_wheel_link">
 <material >Gazebo/Black</material >
 </gazebo >

 <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 >
 <collision >
 <origin xyz="0.0 0 0" rpy="1.57 0.0 0.0"/>
 <geometry >
 <cylinder radius="0.07" length="0.04"/>
 </geometry >
 </collision >
 <inertial >
 <mass value="0.1"/>
 <inertia ixx="0.00014" ixy="0" ixz="0"
 iyy="0.00014" iyz="0" izz="0.00025"/>
 </inertial >
 </link >

 <gazebo reference ="right_wheel_link">
 <material >Gazebo/Black </material >
 </gazebo >

 <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 >
 <collision >
 <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
 <geometry >
 <sphere radius="0.045"/>
 </geometry >
 </collision >
 <inertial >
 <mass value="0.1"/>
 <inertia ixx="0.00008" ixy="0" ixz="0"
 iyy="0.00008" iyz="0" izz="0.00008"/>
 </inertial >
 </link >

 <gazebo reference ="caster_link">
 <material >Gazebo/Black </material >
 <mu1 value="0.0"/>
 <mu2 value="0.0"/>
 <kp value="1000000.0" />
 <kd value="10.0" />
 </gazebo >

 <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 >
 <collision >
 <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 >
 </collision >
 <inertial >
 <mass value="0.05"/>
 <inertia ixx="0.00004" ixy="0" ixz="0"
 iyy="0.00008" iyz="0" izz="0.00004"/>
 </inertial >
 </link >

 <gazebo reference ="imu_link">
 <material >Gazebo/Green </material >
 </gazebo >

 <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 >
 <collision >
 <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
 <geometry >
 <cylinder radius="0.05" length="0.05"/>
 </geometry >
 </collision >
 <inertial >
 <mass value="0.2"/>
 <inertia ixx="0.00017" ixy="0" ixz="0"
 iyy="0.00017" iyz="0" izz="0.00025"/>
 </inertial >
 </link >

 <gazebo reference ="laser_link">
 <material >Gazebo/SkyBlue </material >
 </gazebo >

 <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 >
 <collision >
 <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 >
 </collision >
 <inertial >
 <mass value="0.2"/>
 <inertia ixx="0.00002" ixy="0" ixz="0"
 iyy="0.00039" iyz="0" izz="0.00038"/>
 </inertial >
 </link >

 <gazebo reference ="camera_link">
 <material >Gazebo/Gold </material >
 </gazebo >

 <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 >
 <collision >
 <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 >
 </collision >
 <inertial >
 <mass value="0.05"/>
 <inertia ixx="0.000007" ixy="0" ixz="0"
 iyy="0.000002" iyz="0" izz="0.000008"/>
 </inertial >
 </link >

 <gazebo reference ="us_back_link">
 <material >Gazebo/Turquoise </material >
 </gazebo >
<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 >
 <collision >
 <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" />
 </collision >
 <inertial >
 <mass value="0.05"/>
 <inertia ixx="0.000007" ixy="0" ixz="0"
 iyy="0.000002" iyz="0" izz="0.000008"/>
 </inertial >
 </link >

 <gazebo reference ="us_front_left_link">
 <material >Gazebo/ Turquoise </material >
 </gazebo >

 <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 >
 <collision >
 <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" />
 </collision >
 <inertial >
 <mass value="0.05"/>
 <inertia ixx="0.000007" ixy="0" ixz="0"
 iyy="0.000002" iyz="0" izz="0.000008"/>
 </inertial >
 </link >

 <gazebo reference ="us_front_right_link">
 <material >Gazebo/Turquoise </material >
 </gazebo >

 <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 >






 <transmission name="base_l_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type >
    <joint name="left_wheel_joint">
    <hardwareInterface>VelocityJointInterface</hardwareInterface>
 </joint>
 <actuator name="left_motor_link">
    <mechanicalReduction >1</mechanicalReduction>
    <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </actuator>
 </transmission>

 <transmission name="base_r_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_wheel_joint">
    <hardwareInterface>VelocityJointInterface</hardwareInterface>
 </joint>
 <actuator name="right_motor_link">
    <mechanicalReduction >1</mechanicalReduction >
    <hardwareInterface>VelocityJointInterface</hardwareInterface>
 </actuator>
 </transmission>


<gazebo >
 <plugin name="differential_drive_controller"
 filename="libgazebo_ros_diff_drive.so">
 <rosDebugLevel >Debug</rosDebugLevel >
 <robotNamespace >/</robotNamespace>
 <alwaysOn >true </alwaysOn >
 
 <odometrySource >world </odometrySource >
 
 <broadcastTF >1</broadcastTF >
 
 <publishTf >1</publishTf >

 <publishWheelTF >true </publishWheelTF >

 <publishOdomTF >true </publishOdomTF >
 
 <publishWheelJointState >true </publishWheelJointState >
 <updateRate >100.0 </updateRate >
 <legacyMode >true </legacyMode >
 
 <leftJoint >left_wheel_joint </leftJoint >
 
 <rightJoint >right_wheel_joint </rightJoint >
 
 <wheelSeparation >0.52 </wheelSeparation >
 
 <wheelDiameter >0.14 </wheelDiameter >

 <wheelTorque >30</wheelTorque >
 
 <wheelAcceleration >1.8 </wheelAcceleration >
 
 <commandTopic >cmd_vel</commandTopic >

 <odometryFrame >odom </odometryFrame >
 
 <odometryTopic >odom </odometryTopic >

 <robotBaseFrame>base_footprint</robotBaseFrame>

 </plugin>
</gazebo >

 </robot>

ee.launch

<launch >
<arg name="model"
default="$(find begin1)/urdf/simple_sai_robot2.urdf"/>
<arg name="rvizconfig"
default="$(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" />

<node name="arbotix" pkg="arbotix_python"
type="arbotix_driver" output="screen">
<rosparam file="$(find begin1)/config/robot_arbotix.yaml"
command="load" />
<param name="sim" value="true" />
</node >

<!-- 载 入 空 的 物 理 世 界 -->
 <include file="$(find gazebo_ros)/launch/empty_world.launch">

 </include >

<!-- 创 建 一 个 模 型 对 象 -->
 <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
 args="-x 0.0 -y 0.0 -z 0.0 -unpause -urdf
 -model sai_robot -param robot_description"
 respawn="false" output="screen" />


</launch >

启动launch

roslaunch begin1 ee.launch

圆周运动指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.5, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'