ROS进阶---Gazebo物理仿真环境搭建

Gazebo物理仿真环境搭建

一.ros_control

ros_control为开发者提供一系列控制中间件
包含一系列控制器接口/传动装置接口/硬件接口等

二.Gazebo仿真步骤

1.配置机器人模型

完整代码

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

    <!-- PROPERTY LIST -->
    <xacro:property name="M_PI" value="3.1415926"/>

    <xacro:property name="base_mass"   value="20" /> 
    <xacro:property name="base_length" value="0.46"/>
    <xacro:property name="base_width" value="0.20"/>
    <xacro:property name="base_height" value="0.07"/>

    <xacro:property name="wheel_mass"   value="2" />
    <xacro:property name="wheel_radius" value="0.07"/>
    <xacro:property name="wheel_length" value="0.02"/>
    <xacro:property name="wheel_joint_x" value="0.2"/>
    <xacro:property name="wheel_joint_y" value="0.11"/>
    <xacro:property name="wheel_joint_z" value="0.015"/>

    <!-- 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 inertia matrix -->
    <xacro:macro name="box_inertial_matrix" params="m x y z">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(y*y+z*z)/12}" ixy="0" ixz="0"
                iyy="${m*(x*x+z*z)/12}" iyz="0" 
                izz="${m*(x*x+z*z)/12}" />
        </inertial>
    </xacro:macro>

    <xacro:macro name="cylinder_inertial_matrix" params="m r h">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
                iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
                izz="${m*r*r/2}" /> 
        </inertial>
    </xacro:macro>


    <!-- Macro for robot wheel -->
    <xacro:macro name="wheel" params="prefix1 prefix2 reflect1 reflect2">
        <joint name="${prefix1}_${prefix2}_wheel_joint" type="continuous">
            <origin xyz="${reflect1*wheel_joint_x} ${reflect2*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix1}_${prefix2}_wheel_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix1}_${prefix2}_wheel_link">
            <visual>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                </geometry>
                <material name="gray" />
            </visual>
       	    <collision>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                </geometry>
            </collision>
            <cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
        </link>
        <gazebo reference="${prefix1}_${prefix2}_wheel_link">
            <material>Gazebo/White</material>
        </gazebo>
        <transmission name="${prefix1}_${prefix2}_wheel_joint_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${prefix1}_${prefix2}_wheel_joint" >
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            </joint>
            <actuator name="${prefix1}_${prefix2}_wheel_joint_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>

    </xacro:macro>

<xacro:macro name="mbot_base_gazebo">
        <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>
        <gazebo reference="base_footprint">
            <turnGravityOff>false</turnGravityOff>
        </gazebo>

        <joint name="base_footprint_joint" type="fixed">
            <origin xyz="0 0 ${wheel_joint_z + wheel_radius}" 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>
                    <box size="${base_length} ${base_width} ${base_height}" />
                </geometry>
                <material name="yellow" />
            </visual>
            <collision>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="${base_length} ${base_width} ${base_height}" />
                </geometry>
            </collision>   
            <box_inertial_matrix  m="${base_mass}" x="${base_length}" y="${base_width}" z="${base_height}" />
        </link>
        <gazebo reference="base_link">
            <material>Gazebo/Gold</material>
        </gazebo>

        <wheel prefix1="left" prefix2="front" reflect1="1" reflect2="1"/>
        <wheel prefix1="right" prefix2="front" reflect1="1" reflect2="-1"/>
        <wheel prefix1="left" prefix2="back" reflect1="-1" reflect2="1"/>
        <wheel prefix1="right" prefix2="back" reflect1="-1" reflect2="-1"/>

        <gazebo>
            <plugin name="differential_drive_controller" 
                    filename="libgazebo_ros_diff_drive.so">
                <rosDebugLevel>Debug</rosDebugLevel>
                <publishWheelTF>true</publishWheelTF>
                <robotNamespace>/</robotNamespace>
                <publishTf>1</publishTf>
                <publishWheelJointState>true</publishWheelJointState>
                <alwaysOn>true</alwaysOn>
                <updateRate>100.0</updateRate>
                <legacyMode>true</legacyMode>
                <leftJoint>left_back_wheel_joint</leftJoint>
                <rightJoint>right_back_wheel_joint</rightJoint>
                <wheelSeparation>${wheel_joint_y*2-0.02}</wheelSeparation>
                <wheelDiameter>${2*wheel_radius}</wheelDiameter>
                <broadcastTF>1</broadcastTF>
                <wheelTorque>30</wheelTorque>
                <wheelAcceleration>1.8</wheelAcceleration>
                <commandTopic>cmd_vel</commandTopic>
                <odometryFrame>odom</odometryFrame> 
                <odometryTopic>odom</odometryTopic> 
                <robotBaseFrame>base_footprint</robotBaseFrame>
            </plugin>
        </gazebo> 

    </xacro:macro>
</robot>

2.创建物理仿真环境

<launch>

    <!-- 设置launch文件的参数 -->
    <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"/>

    <!-- 运行gazebo仿真环境 -->
    <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>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mrobot -param robot_description"/> 

</launch>

3.打开Gazebo显示机器人模型

空环境下的机器人模型

roslaunch mbot_gazebo view_mbot_gazebo_empty_world.launch 

感觉孤零零的～

添加环境模型后的机器人

roslaunch mbot_gazebo view_mbot_gazebo_play_ground.launch 

这次好多了～

3.启动键盘节点

roslaunch mbot_teleop mbot_teleop.launch 

四.传感器仿真
摄像头

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

    <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/camera_gazebo.xacro" />

    <xacro:property name="camera_offset_x" value="0.21" />
    <xacro:property name="camera_offset_y" value="0" />
    <xacro:property name="camera_offset_z" value="0.0715" />

    <mbot_base/>

    <!-- Camera -->
    <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>

    <xacro:usb_camera prefix="camera"/> 

    <mbot_base_gazebo/>

</robot>

查看摄像头仿真图像

rqt_image_view