在gazebo中构建空的世界,将机械臂的URDF文件传入参数服务器中去,并生成机械臂的模型:
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- We resume the logic in empty_world.launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find probot_description)/urdf/probot_anno.xacro'" />
<!-- param参数用于指定一个参数,该参数将在仿真环境启动时使用。
在本例中,该参数是使用xacro工具来解析probot_anno.xacro文件,并生成一个URDF文件。 -->
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model probot_anno -param robot_description"/>
</launch>
运行结果如下:
启动关节状态管理器并在tf中广播不同关节之间的坐标变化:
<launch>
<!-- 将关节控制器的配置参数加载到参数服务器中 -->
<rosparam file="$(find probot_gazebo)/config/probot_anno_gazebo_joint_states.yaml" command="load"/>
<!-- 将yaml文件中的参数发送至参数服务器
其中控制器为在URDF文件中设置的gazebo的控制器-->
<node name="joint_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/probot_anno" args="joint_state_controller" />
<!-- 根据yaml文件中的控制器生成控制器节点,并发布jointstatepublisher话题,
该话题会发布每个关节在当前状态下的角度-->
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/probot_anno/joint_states" />
<!--remap参数用于重映射一个主题。在本例中,我们将/joint_states主题重映射为/probot_anno/joint_states主题。
当节点订阅/joint_states主题时,实际上会订阅/probot_anno/joint_states主题。
该节点的发布的tf信息如下:
Type: tf2_msgs/TFMessage
Publishers:
* /robot_state_publisher (http://zdh-Mi-Gaming-Laptop-15-6:40093/)
Subscribers: None
-->
</node>
</launch>
joint_state_publisher话题输出如下:
输出为每个关节的角度。
TF的广播内容如下:
继续编写轨迹控制器节点:
<launch>
<rosparam file="$(find probot_gazebo)/config/probot_anno_trajectory_control.yaml" command="load"/>
<node name="arm_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/probot_anno" args="arm_joint_controller"/>
<!-- 生成机械臂的轨迹控制节点,控制器为gazebo,构建的为gazebo到未知节点的,后续为move_group接入该节点 -->
</launch>
结果如下:
该节点通过构建名为follow_joint_trajectory的action来连接前端的算法和gazebo的虚拟后端。最后加上moveit构成完整的仿真环境:
<launch>
<!-- Launch Gazebo -->
<include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_world.launch" />
<!-- ros_control arm launch file -->
<include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_states.launch" />
<!-- ros_control trajectory control dof arm launch file -->
<include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_trajectory_controller.launch" />
<!-- moveit launch file -->
<include file="$(find probot_anno_moveit_config)/launch/moveit_planning_execution.launch" />
</launch>
启动的节点如下所示: