Gazebo urdf 传感器和运动插件 gazebo_plugins

一、运动控制：

1. 两轮差速控制

<gazebo>
	<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
		<legacyMode>false</legacyMode>
		<alwaysOn>true</alwaysOn>
		<updateRate>100.0</updateRate>
		<leftJoint>base_left_wheel_joint</leftJoint>
		<rightJoint>base_right_wheel_joint</rightJoint>
		<wheelSeparation>0.32</wheelSeparation>
		<wheelDiameter>0.18</wheelDiameter>
		<wheelTorque>5</wheelTorque>
		<wheelAcceleration>0</wheelAcceleration>
		<robotNamespace>pioneer</robotNamespace>
		<commandTopic>cmd_vel</commandTopic>
		<odometryTopic>odom</odometryTopic>
		<odometrySource>ENCODER</odometrySource>
		<odometryFrame>odom</odometryFrame>
		<robotBaseFrame>base_link</robotBaseFrame>
		<publishTf>1</publishTf>
		<publishOdomTF>true</publishOdomTF>
		<publishWheelTF>false</publishWheelTF>
		<publishWheelJointState>false</publishWheelJointState>
		<rosDebugLevel>Warn</rosDebugLevel>
	</plugin>
</gazebo>

2. 四轮差速控制

<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>

3. model 控制

使用geometry_msgs /Twist类型消息控制gazebo任意模型沿水平面移动（link、joint）。

<gazebo>
	<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
		<commandTopic>cmd_vel</commandTopic>
		<odometryTopic>odom</odometryTopic>
		<odometryFrame>odom</odometryFrame>
		<odometryRate>20.0</odometryRate>
		<robotBaseFrame>base_footprint</robotBaseFrame>
	</plugin>
</gazebo>

二、Gazebo里程计

<gazebo>
	<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
		<alwaysOn>true</alwaysOn>
		<updateRate>50.0</updateRate>
		<bodyName>base_link</bodyName>
		<topicName>odom</topicName>
		<gaussianNoise>0.01</gaussianNoise>
		<frameName>world</frameName>
		<xyzOffsets>0 0 0</xyzOffsets>
		<rpyOffsets>0 0 0</rpyOffsets>
	</plugin>
</gazebo>

三、传感器

1. laser

<gazebo reference="hokuyo_link">
    <sensor type="ray" name="head_hokuyo_sensor">
        <pose>0 0 0 0 0 0</pose>
        <visualize>false</visualize>
        <update_rate>10</update_rate>
        <ray>
            <scan>
                <horizontal>
                    <samples>1800</samples>
                    <resolution>1</resolution> 
                    <min_angle>-1.5707963</min_angle>
                    <max_angle>+1.5707963</max_angle>
                </horizontal>
            </scan>
            <range>
                <min>0.1</min>
                <max>30.0</max>
                <resolution>0.01</resolution>
            </range>
            <noise>
                <type>gaussian</type> 
                <mean>0.0</mean>
                <stddev>0.01</stddev>
            </noise>
        </ray>
        <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
            <topicName>scan</topicName>
            <frameName>hokuyo_link</frameName>
        </plugin>
    </sensor>
</gazebo>

2. usb camera

<gazebo reference="camera_link">
      <sensor type="camera" name="camera">
        <update_rate>50</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>
            <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>camera</cameraName>
          <imageTopicName>image</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>

3. IMU

<gazebo>
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <bodyName>base_footprint</bodyName>
      <topicName>imu</topicName>
      <serviceName>imu_service</serviceName>
      <gaussianNoise>0.0</gaussianNoise>
      <updateRate>20.0</updateRate>
    </plugin>
</gazebo>

<gazebo reference="imu_link">
   <gravity>true</gravity>
   <sensor name="imu_sensor" type="imu">
   <pose>0 0 0 0 0 0</pose>
     <always_on>true</always_on>
     <update_rate>100</update_rate>
     <visualize>true</visualize>
     <topic>__default_topic__</topic>
     <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
       <topicName>imu/data</topicName>
       <bodyName>imu_link</bodyName>
       <updateRateHZ>10.0</updateRateHZ>
       <gaussianNoise>0.0</gaussianNoise>
       <xyzOffset>0 0 0</xyzOffset>
       <rpyOffset>0 0 0</rpyOffset>
       <frameName>imu_link</frameName>
     </plugin>
   </sensor>
</gazebo>

4. RGBD camera

<gazebo reference="kinect_link">
      <sensor type="depth" name="openni_camera">
        <always_on>1</always_on>
        <visualize>true</visualize>
        <camera>
          <horizontal_fov>2.8</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>B8G8R8</format>
          </image>
          <depth_camera>
          </depth_camera>
          <clip>
            <near>0.01</near>
            <far>100</far>
          </clip>
        </camera>
        <plugin name="onepni_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>10.0</updateRate>
          <cameraName>under/camera</cameraName>
          <frameName>kinect_pointcloud_link</frameName>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <pointCloudCutoff>0.4</pointCloudCutoff>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
          <CxPrime>0.0</CxPrime>
          <Cx>0.0</Cx>
          <Cy>0.0</Cy>
          <focalLength>0.0</focalLength>
        </plugin>
      </sensor>
</gazebo>

5. velodyne laser
   16线：/opt/ros/kinetic/share/velodyne_description/urdf/VLP-16.urdf.xacro
   32线：/opt/ros/kinetic/share/velodyne_description/urdf/HDL-32E.urdf.xacro

6. GPS

<gazebo>
	<plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
	    <alwayson>true</alwayson>
	    <updaterate>10.0</updaterate>
	    <bodyname>base_link</bodyname>
	    <topicname>/fix</topicname>
	    <velocitytopicname>/fix_velocity</velocitytopicname>
	    <drift>5.0 5.0 5.0</drift>
	    <gaussiannoise>0.1 0.1 0.1</gaussiannoise>
	    <velocitydrift>0 0 0</velocitydrift>
	    <velocitygaussiannoise>0.1 0.1 0.1</velocitygaussiannoise>
	</plugin>
</gazebo> 

https://answers.ros.org/question/258307/gazebo-simulation-gps-fix/

7. video 视频

<gazebo reference="video_link">
	<visual>
		<plugin name="display_video_controller" filename="libgazebo_ros_video.so">
			<topicName>image</topicName>
			<height>120</height>
			<width>160</width>
		</plugin>
	</visual>
</gazebo>

8. 立体相机（多机位）

<gazebo reference="left_camera_frame">
    <sensor type="multicamera" name="stereo_camera">
      <update_rate>30.0</update_rate>
      <camera name="left">
        <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>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <camera name="right">
        <pose>0 -0.07 0 0 0 0</pose>
        <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>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>multisense_sl/camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <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>

9. 碰撞传感器

<gazebo reference="bumper_link">
	<sensor name="contacts" type="contact">
	    <contact>
	      <collision>base_footprint_fixed_joint_lump__base_collision_collision_1</collision>
	    </contact>
	    <plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
	      <always_on>true</always_on>
	      <robotNamespace>/robot</robotNamespace>
	      <bumperTopicName>bumper_states</bumperTopicName>
	      <frameName>bumper</frameName>
	      <visualize>true</visualize>
	      <update_rate>50.0</update_rate>        
	    </plugin>
	</sensor>
	<material>Gazebo/Red</material>
	<mu1>0.1</mu1>
	<mu2>0.1</mu2>
	<gravity>true</gravity>
	<selfCollide>false</selfCollide>
</gazebo>