smartcar仿真学习记录

最新推荐文章于 2024-04-07 09:55:42 发布

小小怪起来了

最新推荐文章于 2024-04-07 09:55:42 发布

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分类专栏： ROS 文章标签： ubuntu

本文链接：https://blog.csdn.net/qq_41516628/article/details/113096833

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操作系统：ubuntu 18.04
ROS版本：melodic

本记录是跟随古月居的smartcar教程进行学习的

终端/文件夹下的操作

首先创建目录(也就是catkin_ws/src)

$ mkdir -p smartcar_ws/src

cd跳到工作空间的src目录下（我的目录如下）

创建包（硬件描述包）

格式 catkin_create_pkg <pkg_name> [deps]

$ catkin_create_pkg smartcar_description std_msgs rospy roscpp urdf

smartcar_description为包名，包含了std_msgs、rospy、roscpp、urdf这几个依赖包

可以利用tree这一工具查看创建好的包的结构（树状图）
若仅想查看一级目录，输入：tree -L 1即可

注：如果没有装tree这一工具，在终端输入 sudo apt install tree 进行下载安装；

然后在smartcar_description下建立 config、launch、urdf 这三个文件夹
在urdf下创建几个文件

smartcar_body.urdf.xacro，也就是车体的模型文件

在文件中输入以下代码

<?xml version="1.0"?>  
<robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro">  
  <xacro:property name="M_PI" value="3.14159"/>    
  <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect -->  
  <xacro:include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/>  
  <xacro:property name="base_x" value="0.33" />  
  <xacro:property name="base_y" value="0.33" />  
 <xacro:macro name="smartcar_body">  

  <link name="dummy"> 
  </link>

  <link name="base_link">  
    <inertial>  
      <origin xyz="0 0 0.055"/>  
      <mass value="1.0" />  
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>  
    </inertial>  
    <visual>  
      <geometry>  
        <box size="0.25 .16 .05"/>  
      </geometry>  
      <origin rpy="0 0 0" xyz="0 0 0.055"/> 
      <material name="blue">  
      <color rgba="0 0 .8 1"/>  
      </material>  
    </visual>  
   <collision>  
      <origin rpy="0 0 0" xyz="0 0 0.055"/>  
      <geometry>  
        <box size="0.25 .16 .05" />  
      </geometry>  
   </collision>  
  </link>  

  <joint name="dummy_joint" type="fixed">
      <parent link="dummy"/>
      <child link="base_link"/>
  </joint>

  <link name="left_front_wheel">  
    <inertial>  
      <origin  xyz="0.08 0.08 0.025"/>  
      <mass value="0.1" />  
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>  
    </inertial>  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
    <collision>  
      <origin rpy="0 1.57075 1.57075" xyz="0.08 0.09 0.04"/>  
      <geometry>  
         <cylinder length=".02" radius="0.025"/>  
      </geometry>  
    </collision>  
  </link>  

  <joint name="left_front_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="left_front_wheel"/>  
    <origin rpy="0 1.57075 1.57075" xyz="0.08 0.09 0.04"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="right_front_wheel">  
    <inertial>  
      <origin xyz="0.08 -0.08 0.025"/>  
      <mass value="0.1" />  
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>  
    </inertial>  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
    <collision>  
      <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.09 0.04"/>  
      <geometry>  
         <cylinder length=".02" radius="0.025"/>  
      </geometry>  
    </collision>  
  </link>  

  <joint name="right_front_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="right_front_wheel"/>  
    <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.09 0.04"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="left_back_wheel">  
    <inertial>  
      <origin xyz="-0.08 0.08 0.025"/>  
      <mass value="0.1" />  
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>  
    </inertial>  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
   </visual>  
   <collision>  
       <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.09 0.04"/>  
      <geometry>  
         <cylinder length=".02" radius="0.025"/>  
      </geometry>  
    </collision>  
  </link>  

  <joint name="left_back_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="left_back_wheel"/>  
    <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.09 0.04"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="right_back_wheel">  
    <inertial>  
       <origin xyz="-0.08 -0.08 0.025"/>  
       <mass value="0.1" />  
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>  
    </inertial>  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
   </visual>  
   <collision>  
      <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.09 0.04"/>  
      <geometry>  
         <cylinder length=".02" radius="0.025"/>  
      </geometry>  
    </collision>  
  </link>  

  <joint name="right_back_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="right_back_wheel"/>  
    <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.09 0.04"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="head">  
    <inertial>  
      <origin xyz="0.08 0 0.08"/>  
      <mass value="0.1" />  
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>  
    </inertial>  
    <visual>  
      <geometry>  
        <box size=".02 .03 .03"/>  
      </geometry>  
      <material name="white">  
        <color rgba="1 1 1 1"/>  
      </material>  
     </visual>  
     <collision>  
      <origin xyz="0.08 0 0.08"/>  
      <geometry>  
         <cylinder length=".02" radius="0.025"/>  
      </geometry>  
    </collision>  
  </link>  

  <joint name="tobox" type="fixed">  
    <parent link="base_link"/>  
    <child link="head"/>  
    <origin xyz="0.08 0 0.08"/>  
  </joint>  

</xacro:macro>  

</robot>

gazebo.urdf.xacro，gazebo的相关文件

在文件中输入以下代码

<?xml version="1.0"?>  
<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"   
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"   
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"   
    xmlns:xacro="http://ros.org/wiki/xacro"   
    name="smartcar_gazebo">  
 
<!-- ASUS Xtion PRO camera for simulation -->  
<!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package -->  
<xacro:macro name="smartcar_sim">  
   
    <gazebo reference="base_link">  
        <material>Gazebo/Blue</material>  
    </gazebo>  
   
    <gazebo reference="right_front_wheel">  
        <material>Gazebo/FlatBlack</material>  
    </gazebo>  
   
    <gazebo reference="right_back_wheel">  
        <material>Gazebo/FlatBlack</material>  
    </gazebo>  
   
    <gazebo reference="left_front_wheel">  
        <material>Gazebo/FlatBlack</material>  
    </gazebo>  
   
    <gazebo reference="left_back_wheel">  
        <material>Gazebo/FlatBlack</material>  
    </gazebo>  
    
    <gazebo reference="head">  
        <material>Gazebo/White</material>  
    </gazebo>  
    
</xacro:macro>  

</robot>

smartcar.urdf.xacro，小车的主文件

在文件中输入以下代码

<?xml version="1.0"?>  

<robot name="smartcar"    

    xmlns:xi="http://www.w3.org/2001/XInclude"  
    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"  
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"  
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"  
    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"  
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"  
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"  
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"  
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"  
    xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"  
    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"  
    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"  
    xmlns:xacro="http://ros.org/wiki/xacro">  

  <xacro:include filename="$(find smartcar_description)/urdf/smartcar_body.urdf.xacro" />  

  <!-- Body of SmartCar, with plates, standoffs and Create (including sim sensors) -->  

  <xacro:smartcar_body/>  <!--emmmm... this version(melodic) should add 'xacro' as prefix,the next version(neotic) will be forbidden-->

  <xacro:smartcar_sim/>  <!--tongshang-->

</robot>

然后进入launch文件夹下创建启动文件　smartcar_display.rviz.launch
在文件中输入以下代码

<launch>  

    <param name="/use_sim_time" value="false" />  

    <!-- Load the URDF/Xacro model of our robot -->  
    <arg name="urdf_file" default="$(find xacro)/xacro '$(find smartcar_description)/urdf/smartcar.urdf.xacro'" />  
    
    <arg name="gui" default="false" />  


    <param name="robot_description" command="$(arg urdf_file)" />  
    <!--param name="use_gui" value="$(arg gui)"/-->  

   
    <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">  
        <rosparam file="$(find smartcar_description)/config/smartcar_arbotix.yaml" command="load" /> 
        <param name="sim" value="true"/>  
    </node>  
    
    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >  
    </node>  
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">  
        <param name="publish_frequency" type="double" value="20.0" />  
    </node>  
    
    <!-- We need a static transforms for the wheels -->  
    <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" />  
    <node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" />  
    
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/urdf.rviz" />  

</launch>

这里可能会用到 sudo apt-get install ros-melodic-joint-state-publisher-gui

进入config文件夹下创建配置文件　smartcar_arbotix.yaml

在文件中输入以下代码

port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20

controllers: {
   #  Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
   base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
}

在smartcar_description下创建　urdf.rviz

在文件中输入以下代码

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 565
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        {}
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: /base_link
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 10
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.465398
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 0.885398
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 882
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1216
  X: 53
  Y: 60

整个包到此差不多已完善

还需要让系统知道包的位置，在主目录下，按下：Ctrl+H，显示隐藏文件，打开.bashrc并在最后加入

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ROS/smartcar_ws/src

然后在终端输入

$ source ~/.bashrc

或直接在终端输入上述export…代码

最后来看工作空间的树状图
运行

$ roslaunch smartcar_description smartcar_display.rviz.launch

运行期间可能会一直出现一个警告，这个目前还未解决，但不影响整体仿真
图１２

RViz中的操作

以下为运行roslaunch后rviz的界面
图１３
如果不显示小车，在左下方Add中添加
图１４

其中左边栏Displays中的两个报错如果是这两个（都是dummy）的话不用理会，不影响整体仿真
图１５
然后需要将Globle Options里的Fixed Frame改成odom
意思为将odom点固定在参考系（也就是背景的格子图）上，否则后面相对于参照系运动的就不是小车，而是那个odom点了

odom点即为最开始小车所处的位置的标记

图１６

在Add中添加odometry，从而让小车显示一个箭头（速度方向？）

图１７
不要忘了将Topic选为/odom
箭头尺寸颜色都可以在Odometry－Shape选项里面修改，这里就不多说了
Keep是每一帧显示区域显示的箭头的最大数量（动起来会比较明显）
图１８

新开一个终端，发布一个消息让小车接收，使小车运动起来

$ 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}}'

上述代码也可以改变linear或angular后各方向的数值，对应线速度与角速度
如果终止发布消息，小车还是不会停下来，需要将速度都设置为０再发布出去
图１９

主要参考文献：
https://blog.csdn.net/hcx25909/article/details/8951833
https://www.cnblogs.com/duijinglianxinduijingxiuxing/p/6757978.html

小小怪起来了

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smartcar仿真学习记录

操作系统：ubuntu 18.04ROS版本：melodic这里是跟随古月居的smartcar教程进行学习的首先创建目录　$ mkdir -p smartcar_ws/src　(catkin_ws/src)cd跳到工作空间的src目录下（我的目录如下）创建包（硬件描述包）　$ catkin_create_pkg smartcar_description std_msgs rospy roscpp urdfsmartcar_description为包名，包含了std_msgs、rospy、r
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