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最新推荐文章于 2024-05-01 11:28:18 发布

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最新推荐文章于 2024-05-01 11:28:18 发布

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http://blog.csdn.net/xuehuafeiwu123/article/details/71108959
http://gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros
ubuntu14.04 使用gazebo2.x 版本

启动gazebo方法

gazebo

通知启动包含gzserver 和 gzclient
安装gazebo ros pkg

sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control

安装后gazebo认识

这里写图片描述
知道这些工具在哪，并且加深对ROS文件体系的认识

运行GAZEBO

roscore &
rosrun gazebo_ros gazebo

话题列表

rostopic list
robot@ubuntu:/opt/ros/indigo/lib/gazebo_ros$ rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg

服务列表

robot@ubuntu:/opt/ros/indigo/lib/gazebo_ros$ rosservice list 
/gazebo/apply_body_wrench
/gazebo/apply_joint_effort
/gazebo/clear_body_wrenches
/gazebo/clear_joint_forces
/gazebo/delete_model
/gazebo/get_joint_properties
/gazebo/get_link_properties
/gazebo/get_link_state
/gazebo/get_loggers
/gazebo/get_model_properties
/gazebo/get_model_state
/gazebo/get_physics_properties
/gazebo/get_world_properties
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/reset_world
/gazebo/set_joint_properties
/gazebo/set_link_properties
/gazebo/set_link_state
/gazebo/set_logger_level
/gazebo/set_model_configuration
/gazebo/set_model_state
/gazebo/set_parameters
/gazebo/set_physics_properties
/gazebo/spawn_gazebo_model
/gazebo/spawn_sdf_model
/gazebo/spawn_urdf_model
/gazebo/unpause_physics
/rosout/get_loggers
/rosout/set_logger_level

empty_world.launch

<launch>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="extra_gazebo_args" default=""/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="physics" default="ode"/>
  <arg name="verbose" default="false"/>
  <arg name="world_name" default="worlds/empty.world"/>
  <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->

  <!-- set use_sim_time flag -->
  <group if="$(arg use_sim_time)">
    <param name="/use_sim_time" value="true" />
  </group>

  <!-- set command arguments -->
  <arg unless="$(arg paused)" name="command_arg1" value=""/>
  <arg     if="$(arg paused)" name="command_arg1" value="-u"/>
  <arg unless="$(arg headless)" name="command_arg2" value=""/>
  <arg     if="$(arg headless)" name="command_arg2" value="-r"/>
  <arg unless="$(arg verbose)" name="command_arg3" value=""/>
  <arg     if="$(arg verbose)" name="command_arg3" value="--verbose"/>
  <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
  <arg     if="$(arg debug)" name="script_type" value="debug"/>

  <!-- start gazebo server-->
  <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen"
    args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />

  <!-- start gazebo client -->
  <group if="$(arg gui)">
    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"/>
  </group>

</launch>

前面的arg 设置了一些变量
paused
在暂停状态打开Gazebo (default false)
use_sim_time
节点启动模拟时间，启动主题topic /clock (default true)
gui
启动Gazebo用户接口 (default true)
headless
禁止仿真器调用任何渲染组件。不能在gui:=true (default false)是使用
debug
用gdb (default false)调试模式启动 gzserver (Gazebo Server)

中间的group 中出现了 if unless
if表示仅当属性设置时(为真)才执行。
unless表示当属性没有设置时（为假）才执行。
所有标签都可以用if和unless，包括根据求值的得到结果的标签。1为真，0为假，其他返回值错误。
· if=value (optional)
· if是计算值是否为真，包括标签和它的内容。
unless=value (optional)
· Unless 是计算值是否为真，包括标签和它的内容
这里”world_name” 中worlds/empty_world 在哪儿？
文中的GAZEBO_RESOURCE_PATH变量指的是？（printenv打印不出来！如果你知道欢迎留言）
http://blog.chinaunix.net/uid-29742351-id-4961536.html

robot@ubuntu:/opt/ros/indigo/share/gazebo_ros/launch$ sudo find / -name empty_world.world 
[sudo] password for robot: 

/usr/share/gazebo-2.2/worlds/empty_world.world

gazebo launch 文件更换世界环境

参考给的例子range_world.launch

<?xml version="1.0"?>
<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="extra_gazebo_args" default=""/>
  <arg name="gui" default="true"/>
  <arg name="debug" default="false"/>
  <arg name="physics" default="ode"/>
  <arg name="verbose" default="true"/>
  <arg name="world" default="gazebo_ros_range"/> 

  <!-- set use_sim_time flag -->
  <group if="$(arg use_sim_time)">
    <param name="/use_sim_time" value="true" />
  </group>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find gazebo_plugins)/test/test_worlds/$(arg world).world"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

</launch>

将empty_world.launch文件包含进来，并将“world_name”变量修改成其他world环境。
参考launch 例子：mud_world.launch

<launch>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="worlds/mud.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

</launch>

创建你的gazebo package

文件夹目录如下：

../catkin_ws/src
    /MYROBOT_description
        package.xml
        CMakeLists.txt
        /urdf
            MYROBOT.urdf
        /meshes
            mesh1.dae
            mesh2.dae
            ...
        /materials
        /cad
    /MYROBOT_gazebo
        /launch
            MYROBOT.launch
        /worlds
            MYROBOT.world
        /models
            world_object1.dae
            world_object2.stl
            world_object3.urdf
        /materials
        /plugins

对应cmakelists.txt

cmake_minimum_required(VERSION 2.8.3)
project(YOURROBOT_gazebo_plugins)

find_package(catkin REQUIRED COMPONENTS
  gazebo_ros
)

# Depend on system install of Gazebo
find_package(gazebo REQUIRED)

include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS})

# Build whatever you need here
add_library(...) # TODO

catkin_package(
    DEPENDS
      gazebo_ros
    CATKIN_DEPENDS
    INCLUDE_DIRS
    LIBRARIES
)

package.xml

<build_depend>gazebo_ros</build_depend>
<run_depend>gazebo_ros</run_depend>

创建MYROBOT.world 文件

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://gas_station</uri>
      <name>gas_station</name>
      <pose>-2.0 7.0 0 0 0 0</pose>
    </include>
  </world>
</sdf>

sdf 指代model database.
SQL Server Compact Edition Database Files
https://bitbucket.org/osrf/gazebo_models/downloads/

ros 初始化gazebo 下载模型路径为~/gazebo/model
或者设置环境变量GAZEBO_MODEL_PATH
ros 默认world文件位置为/usr/share/gazebo-2.2
或者设置环境变量GAZEBO_RESOURCE_PATH
建立新模型：http://m.blog.csdn.net/wilylcyu/article/details/51754495
MYbot.launch

<launch>
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find MYROBOT_gazebo)/worlds/MYROBOT.world"/>
    <!-- more default parameters can be changed here -->
  </include>
</launch>

向gazebo中加载urdf 模型
1）调用 spawn 服务

rosrun gazebo_ros spawn_model -file `rospack find neo_robot_descriptions`/mp_400/mp_400.urdf -urdf -x 0 -y 0 -z 1 -model mp_400

这里加是加进去了，但是环境中看不到？？？？
如果是xacro 文件，转化：

rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro -o /tmp/pr2.urdf
check_urdf pr2.urdf
urdf_to_graphiz pr2.urdf
rosrun tf view_frames

查看spawn_model 所有参数

rosrun gazebo_ros spawn_model -h

launch 文件中写法：

<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find baxter_description)/urdf/baxter.urdf -urdf -z 1 -model baxter" />

launch 例子

<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find pr2_description)/robots/pr2.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model pr2" />

在gazebo中使用urdf
参考自http://gazebosim.org/tutorials/?tut=ros_urdf

URDF是ROS中用来描述机器人元素的xml文件格式。在gazebo中使用模型也必须是urdf，不能是xacro（转换细节如上面一个代码片中）。然而gazebo中使用的urdf必须添加额外仿真有关的标签，gazebo会自动转换urdf成sdf 文件格式（sdf：simulation descripition formate ）

URDF虽然标准但还是缺乏了许多机器人需要的特征，urdf能够制定单个机器人模型的运动学和动力学属性，但不能指定机器人在世界中位置，也不能描述闭合关节和平行关节，也没有摩擦等属性，也没有仿真环境的描述。
鉴于此现状，sdf 新的仿真描述格式语言？被设计出来并在gazebo中使用。sdf也使用xml语法格式描述。

urdf 转换成gazebo的sdf
REQUIRED
每个link元素中必须含有inertia标签
OPTIONAL
- 在每个link元素中增加gazebo标签
  - 转换成gazebo格式视觉颜色
  - 转换stl格式到dae格式（纹理更好看）
  - 增加传感器插件（用来仿真）插件将会与link name对应（gazeob reference=”” plugin）
- 在每个joint中添加gazebo标签
  - 设置damping dynamics动力学阻尼
  - 添加控制驱动器插件
- 添加一个link name=”world”/ ,如果你的模型需要固定在世界world 或者base_link
gazebo 元素

gazebo元素就是对urdf的扩展。
gazebo给出了RRBOT的教程，step by step

cd ~/catkin_ws/src/
git clone https://github.com/ros-simulation/gazebo_ros_demos.git
cd ..
catkin_make

view in rviz

roslaunch rrbot_description rrbot_rviz.launch

来看看这个rviz
这里写图片描述

<launch>
  <param name="robot_description"
    command="$(find xacro)/xacro --inorder '$(find rrbot_description)/urdf/rrbot.xacro'" />

  <!-- send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="TRUE"/>
  </node>

  <!-- Combine joint values -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rrbot_description)/launch/rrbot.rviz"/>

</launch>

joint_state_publisher 中设置“use_gui”选项就会出现滑动条了。
xacro –inorder 这个命令行参数貌似是从jade版本添加的，以读取顺序处理整个文档

rrbot.xacro

<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Constants for robot dimensions -->
  <xacro:property name="PI" value="3.1415926535897931"/>
  <xacro:property name="mass" value="1" /> <!-- arbitrary value for mass -->
  <xacro:property name="width" value="0.1" /> <!-- Square dimensions (widthxwidth) of beams -->
  <xacro:property name="height1" value="2" /> <!-- Link 1 -->
  <xacro:property name="height2" value="1" /> <!-- Link 2 -->
  <xacro:property name="height3" value="1" /> <!-- Link 3 -->
  <xacro:property name="camera_link" value="0.05" /> <!-- Size of square 'camera' box -->
  <xacro:property name="axel_offset" value="0.05" /> <!-- Space btw top of beam and the each joint -->

  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/rrbot.gazebo" />
  <!-- Import Rviz colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/materials.xacro" />

  <!-- Used for fixing robot to Gazebo 'base_link' -->
  <link name="world"/>

  <joint name="fixed" type="fixed">
    <parent link="world"/>
    <child link="link1"/>
  </joint>

  <!-- Base Link -->
  <link name="link1">
    <collision>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <geometry>
    <box size="${width} ${width} ${height1}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <geometry>
    <box size="${width} ${width} ${height1}"/>
      </geometry>
      <material name="orange"/>
    </visual>

    <inertial>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <mass value="${mass}"/>
      <inertia
      ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0"
      iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0"
      izz="${mass / 12.0 * (width*width + width*width)}"/>
    </inertial>
  </link>

  <joint name="joint1" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.7"/>
  </joint>

  <!-- Middle Link -->
  <link name="link2">
    <collision>
      <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
      <geometry>
    <box size="${width} ${width} ${height2}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
      <geometry>
    <box size="${width} ${width} ${height2}"/>
      </geometry>
      <material name="black"/>
    </visual>

    <inertial>
      <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
      <mass value="${mass}"/>
      <inertia
      ixx="${mass / 12.0 * (width*width + height2*height2)}" ixy="0.0" ixz="0.0"
      iyy="${mass / 12.0 * (height2*height2 + width*width)}" iyz="0.0"
      izz="${mass / 12.0 * (width*width + width*width)}"/>
    </inertial>
  </link>

  <joint name="joint2" type="continuous">
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz="0 ${width} ${height2 - axel_offset*2}" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.7"/>
  </joint>

  <!-- Top Link -->
  <link name="link3">
    <collision>
      <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
      <geometry>
    <box size="${width} ${width} ${height3}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
      <geometry>
    <box size="${width} ${width} ${height3}"/>
      </geometry>
      <material name="orange"/>
    </visual>

    <inertial>
      <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
      <mass value="${mass}"/>
      <inertia
      ixx="${mass / 12.0 * (width*width + height3*height3)}" ixy="0.0" ixz="0.0"
      iyy="${mass / 12.0 * (height3*height3 + width*width)}" iyz="0.0"
      izz="${mass / 12.0 * (width*width + width*width)}"/>
    </inertial>
  </link>

  <joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0 0 ${height3 - axel_offset/2}" rpy="0 0 0"/>
    <parent link="link3"/>
    <child link="hokuyo_link"/>
  </joint>

  <!-- Hokuyo Laser -->
  <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://rrbot_description/meshes/hokuyo.dae"/>
      </geometry>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

  <joint name="camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="${camera_link} 0 ${height3 - axel_offset*2}" rpy="0 0 0"/>
    <parent link="link3"/>
    <child link="camera_link"/>
  </joint>

  <!-- Camera -->
  <link name="camera_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="${camera_link} ${camera_link} ${camera_link}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="${camera_link} ${camera_link} ${camera_link}"/>
      </geometry>
      <material name="red"/>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

  <!-- generate an optical frame http://www.ros.org/reps/rep-0103.html#suffix-frames
      so that ros and opencv can operate on the camera frame correctly -->
  <joint name="camera_optical_joint" type="fixed">
    <!-- these values have to be these values otherwise the gazebo camera image
        won't be aligned properly with the frame it is supposedly originating from -->
    <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
    <parent link="camera_link"/>
    <child link="camera_link_optical"/>
  </joint>

  <link name="camera_link_optical">
  </link>

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

</robot>

xacro 常量，常量块，宏，带参宏（文本参数，一星块参数，两星块参数）
urdf必须的格式要求有一些变化。比如一些gazebo xml-schema namespaces 不再必须。比如下面就可以舍弃了。
比如惯量定义每一段都差不多，可以参考如下

 <xacro:macro name="default_inertial" params="mass">
               <inertial>
                       <mass value="${mass}" />
                       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               </inertial>
    </xacro:macro>

使用时如下

 <link name="x">
        <visual>
            <geometry>
                    <box size="0.001 0.001 0.001"/>
                </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </visual>
        <xacro:default_inertial mass="0.0001"/>
    </link>

<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#xacro"
       name="pr2" >

必须，不可舍的是xmlns:xacro=“”

<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

gazebo标签中的元素
如果一个gazebo标签写成了gazebo reference=”” ，被认为该标签对整个robot有效的。
当然对某个link（在link 内部）gazebo reference=”base_link” 支队该link有效。

gazebo 标签内如果有static 元素，类型为bool，如果被设置为true ,则表示模型不可动，otherwise the model is simulated in the dynamic engine.
除了static 元素之外的所有gazebo标签中的元素都会被插入到sdf 中model 标签中。

刚性固定（模型与世界world）
如果刚性永久的固定模型在底面上，你必须创建一个名为world的link + 一个fixed 类型的关节joint .
如果你的模型是移动的，就不需要了。

<!-- Used for fixing robot to Gazebo 'base_link' -->
  <link name="world"/>

  <joint name="fixed" type="fixed">
    <parent link="world"/>
    <child link="link1"/>
  </joint>

urdf的 link 各元素的写法

<!-- Base Link -->
  <link name="link1">
    <collision>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <geometry>
        <box size="${width} ${width} ${height1}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <geometry>
        <box size="${width} ${width} ${height1}"/>
      </geometry>
      <material name="orange"/>
    </visual>

    <inertial>
      <origin xyz="0 0 1" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="0.0" ixz="0.0"
        iyy="1.0" iyz="0.0"
        izz="1.0"/>
    </inertial>
  </link>

单位：kg m rad gravity:9.81
collision 和 visual 元素
在gazebo 模型中，必须两者都指定（collision不可省略，gazebo会吧vision默认为collision，简单做法就是将collision定义为和visual 中geometry/mesh一样大小）
生成mesh的工具Blender,Maya, 3DS MAX。
material 元素定义颜色和纹理

 <material name="orange">
    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
  </material>

上面为urdf的写法，悲惨的是在gazebo中无效。gazebo必须要求重新采用如下格式重新定义

<gazebo reference="link1">
    <material>Gazebo/Orange</material>
  </gazebo>

gazebo可使用模型文件叫rrbot.gazebo

<?xml version="1.0"?>
<robot>

  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/rrbot</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>

  <!-- Link1 -->
  <gazebo reference="link1">
    <material>Gazebo/Orange</material>
  </gazebo>

  <!-- Link2 -->
  <gazebo reference="link2">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/Black</material>
  </gazebo>

  <!-- Link3 -->
  <gazebo reference="link3">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/Orange</material>
  </gazebo>

  <!-- camera_link -->
  <gazebo reference="camera_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/Red</material>
  </gazebo>

  <!-- hokuyo -->
  <gazebo reference="hokuyo_link">
    <sensor type="gpu_ray" name="head_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>/rrbot/laser/scan</topicName>
        <frameName>hokuyo_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

  <!-- camera -->
  <gazebo reference="camera_link">
    <sensor type="camera" name="camera1">
      <update_rate>30.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>800</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <!-- Noise is sampled independently per pixel on each frame.
               That pixel's noise value is added to each of its color
               channels, which at that point lie in the range [0,1]. -->
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>rrbot/camera1</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link_optical</frameName>
        <!-- setting hackBaseline to anything but 0.0 will cause a misalignment
            between the gazebo sensor image and the frame it is supposed to
            be attached to -->
        <hackBaseline>0.0</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0.0</Cx>
        <Cy>0.0</Cy>
        <focalLength>0.0</focalLength>
      </plugin>
    </sensor>
  </gazebo>

</robot>

这里补充一点gazebo的world model 这些文件的路径
worlds: /usr/share/gazebo2.2/worlds
model: /home/$USER/.gazebo/models 这个路径是默认路径如果在其他路径，需要设置GAZEBO_MODEL_PATH环境变量
texture:/usr/share/gazebo-2.2/media/materials/textures
颜色在哪儿？The default available materials in Gazebo can be found in the Gazebo source code at gazebo/media/materials/scripts/gazebo.material.

mesh网格，支持stl 和 dae ，但是gazebo推荐使用dae（collada），因为dae支持颜色和纹理，显示效果更好

inertial 属性

gazebo 必须，在link 内部指定，且 mass 设置大于0, 惯量设置为0 将会使模型受力时产生无限的加减速度，这些值怎么来获得？很简单，任何CAD模型，你先设置密度，泊松比，弹性惯量之后，都能调出来数据（应该密度就可以了）。

设置inertial 的例子

 <inertial>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="0.0" ixz="0.0"
        iyy="1.0" iyz="0.0"
        izz="1.0"/>
    </inertial>

origin 代表该link 的质心位置。gazebo检查质心位置 view菜单然后选择 wireframe 和 center of mass
link 可设置 gazebo 标签的所有元素
这里写图片描述

Joint 标签
- origin parent child 必须
- calibration safety_controller 被忽略
- gazebo4 和以下版本仅采用 dynamic 标签中的 damping属性；gazebo5 换成了friction 属性（阻尼单位为N * m * s / rad, 与速度相关）

RRBOT 例子

 <joint name="joint2" type="continuous">
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz="0 ${width} ${height2 - axel_offset*2}" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.7"/>
  </joint>

这里写图片描述
检查gazebo 属性的urdf 是否正确（能否转换成sdf 格式）的软件工具

  # gazebo2 and below（indigo）
  gzsdf print MODEL.urdf
  # gazebo3 and above
  gz sdf -p MODEL.urdf

gazebo1.9以上版本，将检出结果保存为log文件，路径~/.gazebo/gzsdf.log
在gazebo中启动模型

<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, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find rrbot_gazebo)/worlds/rrbot.world"/>
    <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 rrbot_description)/urdf/rrbot.xacro'" />

  <!-- 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 rrbot -param robot_description"/>

  <!-- ros_control rrbot launch file -->
  <!--include file="$(find rrbot_control)/launch/rrbot_control.launch" /-->

</launch>

http://gazebosim.org/tutorials?tut=ros_gzplugins
- gazebo 使用插件控制

 - 添加插件到robot 标签
插件可以添加在urdf 的 robot link joint 标签内部。取决于该插件的功能和范围。
写法上，插件的标签是plugin，且应该被gazebo包含在内。

<gazebo>
  <plugin name="differential_drive_controller" filename="libdiffdrive_plugin.so">
    ... plugin parameters ...
  </plugin>
</gazebo>

上面代码片中 gazebo 后面没有 reference=“x”，说明是被添加到robot 标签！！ In SDF terminology（术语，用词）, it assumes the reference is the model 标签。

urdf 转换为 sdf 过程中，任何 gazebo 标签中的元素，且不在urdf 元素表中的，都会被插入到（添加到）sdf的model 标签中。
例如：

<model name="your_robot_model">
  <plugin name="differential_drive_controller" filename="libdiffdrive_plugin.so">
    ... plugin parameters ...
  </plugin>
</model>

             -  添加插件到link 标签

类似的，plugin 被包含在gazebo 标签中。gazebo reference 和 link name 同名

<gazebo reference="your_link_name">
  <plugin name="your_link_laser_controller" filename="libgazebo_ros_laser.so">
    ... plugin parameters ...
  </plugin>
</gazebo>

             - 添加插件到joint 标签
和link一样

gazebo_plugins 中可用的插件

插件和插件类名相同。如”Block Laser” is from the GazeboRosBlockLaser class and can be found in the file gazebo_plugins/src/gazebo_ros_block_laser.cpp.

camera

RRBOT 中采用的RGB 相机，位于pendulum arm end。rrbot.xacro 中定义了模型

<xacro:property name="camera_link" value="0.05" /> <!-- Size of square 'camera' box --> 

<joint name="camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="${camera_link} 0 ${height3 - axel_offset*2}" rpy="0 0 0"/>
    <parent link="link3"/>
    <child link="camera_link"/>
  </joint>

  <!-- Camera -->
  <link name="camera_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="${camera_link} ${camera_link} ${camera_link}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="${camera_link} ${camera_link} ${camera_link}"/>
      </geometry>
      <material name="red"/>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

添加插件，转换成gazebo ，在rrbot.gazebo

<!-- camera -->
  <gazebo reference="camera_link">
    <sensor type="camera" name="camera1">
      <update_rate>30.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>800</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <!-- Noise is sampled independently per pixel on each frame.
               That pixel's noise value is added to each of its color
               channels, which at that point lie in the range [0,1]. -->
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>rrbot/camera1</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>

这里写图片描述

 - Depth camera kinect

<gazebo>
  <plugin name="${link_name}_controller" filename="libgazebo_ros_openni_kinect.so">
    <baseline>0.2</baseline>
    <alwaysOn>true</alwaysOn>
    <updateRate>1.0</updateRate>
    <cameraName>${camera_name}_ir</cameraName>
    <imageTopicName>/${camera_name}/depth/image_raw</imageTopicName>
    <cameraInfoTopicName>/${camera_name}/depth/camera_info</cameraInfoTopicName>
    <depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
    <depthImageInfoTopicName>/${camera_name}/depth/camera_info</depthImageInfoTopicName>
    <pointCloudTopicName>/${camera_name}/depth/points</pointCloudTopicName>
    <frameName>${frame_name}</frameName>
    <pointCloudCutoff>0.5</pointCloudCutoff>
    <distortionK1>0.00000001</distortionK1>
    <distortionK2>0.00000001</distortionK2>
    <distortionK3>0.00000001</distortionK3>
    <distortionT1>0.00000001</distortionT1>
    <distortionT2>0.00000001</distortionT2>
    <CxPrime>0</CxPrime>
    <Cx>0</Cx>
    <Cy>0</Cy>
    <focalLength>0</focalLength>
    <hackBaseline>0</hackBaseline>
  </plugin>
</gazebo>

 - GPU Laser

模型

 <joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0 0 ${height3 - axel_offset/2}" rpy="0 0 0"/>
    <parent link="link3"/>
    <child link="hokuyo_link"/>
  </joint>

  <!-- Hokuyo Laser -->
  <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://rrbot_description/meshes/hokuyo.dae"/>
      </geometry>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

插件

 <!-- hokuyo -->
  <gazebo reference="hokuyo_link">
    <sensor type="gpu_ray" name="head_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>/rrbot/laser/scan</topicName>
        <frameName>hokuyo_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

查分驱动控制器插件

<gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>${update_rate}</updateRate>
    <leftJoint>base_link_right_wheel_joint</leftJoint>
    <rightJoint>base_link_left_wheel_joint</rightJoint>
    <wheelSeparation>0.5380</wheelSeparation>
    <wheelDiameter>0.2410</wheelDiameter>
    <torque>20</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <robotBaseFrame>base_footprint</robotBaseFrame>
  </plugin>
</gazebo>

滑动驱动控制器插件

<gazebo>
  <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
    <updateRate>100.0</updateRate>
    <robotNamespace>/</robotNamespace>
    <leftFrontJoint>front_left_wheel_joint</leftFrontJoint>
    <rightFrontJoint>front_right_wheel_joint</rightFrontJoint>
    <leftRearJoint>back_left_wheel_joint</leftRearJoint>
    <rightRearJoint>back_right_wheel_joint</rightRearJoint>
    <wheelSeparation>0.4</wheelSeparation>
    <wheelDiameter>0.215</wheelDiameter>
    <robotBaseFrame>base_link</robotBaseFrame>
    <torque>20</torque>
    <topicName>cmd_vel</topicName>
    <broadcastTF>false</broadcastTF>
  </plugin>
</gazebo>

NEXT STEPS ————ros_control 中controller actuator simulator

http://gazebosim.org/tutorials/?tut=ros_control

hoppss

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gazebo

http://blog.csdn.net/xuehuafeiwu123/article/details/71108959 http://gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros ubuntu14.04 使用gazebo2.x 版本启动gazebo方法gazebo通知启动包含gzserver 和 gzclient 安装gazeb
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