简单实例
在 Rviz 中显示一个盒状机器人
URDF文件 demo01_helloworld.urdf
<robot name="mycar">
<link name="base_link">
<visual>
<geometry>
<box size="0.5 0.2 0.1" />
</geometry>
</visual>
</link>
</robot>
launch文件 demo01_helloworld.launch
<launch>
<!-- 1. 在参数服务器载入 urdf 文件; name值是固定的-->
<param name = "robot_description" textfile = "$(find urdf01_rviz)/urdf/urdf/demo01_helloworld.urdf" />
<!-- 2. 启动 rviz args用来保存rviz文件-->
<node pkg = "rviz" type = "rviz" name = "rviz" args = "-d $(find urdf01_rviz)/config/show_mycar.rviz"/>
</launch>
source ./devel/setup.bash
roslaunch urdf01_rviz demo01_helloworld.launch
link
定义：urdf 中的 link 标签用于描述机器人某个部件(也即刚体部分)的外观和物理属性，比如: 机器人底座、轮子、激光雷达、摄像头…每一个部件都对应一个 link, 在 link 标签内，可以设计该部件的形状、尺寸、颜色、惯性矩阵、碰撞参数等一系列属性。
- Inertial：惯性矩阵
- Collision：碰撞参数
- Visual：可视化
URDF文件 demo02_link.urdf
<!-- 需求: 设置不同形状的机器人部件 -->
<robot name = "mycar">
<link name = "base_link">
<!-- 可视化标签 -->
<visual>
<!-- 1. 形状 -->
<geometry>
<!-- 1.1 立方体 x,y,z-->
<!-- <box size = "0.3 0.2 0.1" /> -->
<!-- 1.2 圆柱 -->
<!-- <cylinder radius = "0.1" length = "2" /> -->
<!-- 1.3 球体 -->
<!-- <sphere radius = "1" /> -->
<!-- 1.4 皮肤 -->
<mesh filename = "package://urdf01_rviz/meshes/autolabor_mini.stl"/>
</geometry>
<!-- 2. 偏移量与倾斜弧度 -->
<!--
xyz 设置机器人模型在 x, y, z轴上偏移量
rpy 设置倾斜弧度 x(翻滚) y(俯仰) z(偏航)
-->
<origin xyz = "0 0 0" rpy = "1.57 0 1.57" />
<!-- 3. 颜色 -->
<!--
rgba：
r = red
g = green
b = blue
a = 透明度
四者取值介于[0,1]
-->
<material name = "car_color">
<color rgba = "0 1 0 1" />
</material>
</visual>
</link>
</robot>
launch文件 demo02_link.launch
<launch>
<!-- 1. 在参数服务器载入 urdf 文件; name值是固定的-->
<param name = "robot_description" textfile = "$(find urdf01_rviz)/urdf/urdf/demo02_link.urdf" />
<!-- 2. 启动 rviz args用来保存rviz文件-->
<node pkg = "rviz" type = "rviz" name = "rviz" args = "-d $(find urdf01_rviz)/config/show_mycar.rviz"/>
</launch>
joint
urdf 中的 joint 标签用于描述机器人关节的运动学和动力学属性，还可以指定关节运动的安全极限，机器人的两个部件(分别称之为 parent link 与 child link)以"关节"的形式相连接，不同的关节有不同的运动形式: 旋转、滑动、固定、旋转速度、旋转角度限制…,比如:安装在底座上的轮子可以360度旋转，而摄像头则可能是完全固定在底座上。
origin 就是 上图的紫色部分，joint 关于 parent_link的位置关系
URDF文件 demo03_joint.urdf
urdf文件里使用中文注释可能会报错
<!-- 需求: 设置机器人底盘，并添加摄像头 -->
<robot name = "mycar">
<!-- 1. 底盘link -->
<link name = "base_link">
<visual>
<geometry>
<box size = "0.3 0.2 0.1" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0" />
<material name = "car_color">
<color rgba = "0.8 0.5 0 0.5" />
</material>
</visual>
</link>
<!-- 2. 摄像头link -->
<link name = "camera">
<visual>
<geometry>
<box size = "0.02 0.05 0.05" />
</geometry>
<!-- 先使用默认(后期需要修改) -->
<origin xyz = "0 0 0" rpy = "0 0 0" />
<material name = "camera_color">
<color rgba = "0 0 1 0.5" />
</material>
</visual>
</link>
<!-- 3. 关节-->
<joint name = "camera2base" type = "continuous">
<!-- 父节 link -->
<parent link = "base_link" />
<!-- 子节 link -->
<child link = "camera" />
<!-- 设置joint相对于父节的偏移量 -->
<origin xyz = "0.12 0 0.05" rpy = "0 0 0" />
<!-- 设置关节旋转参考的坐标轴,0表示不绕该轴旋转，1表示绕该轴旋转 -->
<axis xyz = "0 0 1" />
</joint>
</robot>
launch文件 demo03_joint.launch
<launch>
<!-- 1. 在参数服务器载入 urdf 文件; name值是固定的-->
<param name = "robot_description" textfile = "$(find urdf01_rviz)/urdf/urdf/demo03_joint.urdf" />
<!-- 2. 启动 rviz args用来保存rviz文件-->
<node pkg = "rviz" type = "rviz" name = "rviz" args = "-d $(find urdf01_rviz)/config/show_mycar.rviz"/>
<!--
只有上述两条语句:
表现: 设置头显示位置与颜色异常
提示: No transform from [camera] to [base_link] 缺少 camera 到 base_link 的坐标变换
原因: rviz 显示 URDF 时，必须发布不同部件之间的 坐标系 关系
解决: ROS中提供了关于机器人模型显示的坐标发布相关节点(两个)
rosrun joint_state_publisher joint_state_publisher
rosrun robot_state_publisher robot_state_publisher
-->
<!-- 关节状态发布节点 -->
<node pkg = "joint_state_publisher" type = "joint_state_publisher" name = "joint_state_publisher" />
<!-- 机器人状态发布节点 -->
<node pkg = "robot_state_publisher" type = "robot_state_publisher" name = "robot_state_publisher" />
</launch>
优化
URDF文件 demo04_base_footprint.urdf
<!-- 需求: 设置机器人底盘，并添加摄像头 -->
<robot name = "mycar">
<!-- 添加一个尺寸极小关节 link,
再去关联出时 link 与 base_link,
关节的高度刚好和 base_link 下沉的高度一致(半个底盘高度) -->
<link name = "base_footprint">
<visual>
<geometry>
<box size = "0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<!-- 1. 底盘link -->
<link name = "base_link">
<visual>
<geometry>
<box size = "0.3 0.2 0.1" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0" />
<material name = "car_color">
<color rgba = "0.8 0.5 0 0.5" />
</material>
</visual>
</link>
<!-- 2. 摄像头link -->
<link name = "camera">
<visual>
<geometry>
<box size = "0.02 0.05 0.05" />
</geometry>
<!-- 先使用默认(后期需要修改) 默认情况下关节与连杆中心点重合-->
<origin xyz = "0 0 0.025" rpy = "0 0 0" />
<material name = "camera_color">
<color rgba = "0 0 1 0.5" />
</material>
</visual>
</link>
<!-- 关联 base_footprint 与 base_link -->
<joint name = "link2footprint" type = "fixed">
<!-- 父节 link -->
<parent link = "base_footprint" />
<!-- 子节 link -->
<child link = "base_link" />
<!-- 设置子节相对于父节的偏移量 z为半个base_link的高度-->
<origin xyz = "0 0 0.05" rpy = "0 0 0" />
</joint>
<!-- 3. 关节-->
<joint name = "camera2base" type = "continuous">
<!-- 父节 link -->
<parent link = "base_link" />
<!-- 子节 link -->
<child link = "camera" />
<!-- 设置子节相对于父节的偏移量 -->
<origin xyz = "0.12 0 0.05" rpy = "0 0 0" />
<!-- 设置关节旋转参考的坐标轴,0表示不绕该轴旋转，1表示绕该轴旋转 -->
<axis xyz = "0 0 1" />
</joint>
</robot>
launch文件 demo04_base_footprint.launch
<launch>
<!-- 1. 在参数服务器载入 urdf 文件; name值是固定的-->
<param name = "robot_description" textfile = "$(find urdf01_rviz)/urdf/urdf/demo04_base_footprint.urdf" />
<!-- 2. 启动 rviz args用来保存rviz文件 -->
<node pkg = "rviz" type = "rviz" name = "rviz" args = "-d $(find urdf01_rviz)/config/show_mycar.rviz"/>
<!--
只有上述两条语句:
表现: 设置头显示位置与颜色异常
提示: No transform from [camera] to [base_link] 缺少 camera 到 base_link 的坐标变换
原因: rviz 显示 URDF 时，必须发布不同部件之间的 坐标系 关系
解决: ROS中提供了关于机器人模型显示的坐标发布相关节点(两个)
rosrun joint_state_publisher joint_state_publisher
rosrun robot_state_publisher robot_state_publisher
-->
<!-- 关节状态发布节点 -->
<node pkg = "joint_state_publisher" type = "joint_state_publisher" name = "joint_state_publisher" />
<!-- 机器人状态发布节点 -->
<node pkg = "robot_state_publisher" type = "robot_state_publisher" name = "robot_state_publisher" />
</launch>
练习
link偏移量是物体中心和大地坐标系原点的偏移
joint偏移量是两个link坐标系之间的偏移量
设计要求：创建一个四轮圆柱状机器人模型，机器人参数如下,底盘为圆柱状，半径 10cm，高 8cm，四轮由两个驱动轮和两个万向支撑轮组成，两个驱动轮半径为 3.25cm,轮胎宽度1.5cm，两个万向轮为球状，半径 0.75cm，底盘离地间距为 1.5cm(与万向轮直径一致)
launch文件
<launch>
<!-- 1. 在参数服务器中载入URDF -->
<param name = "robot_description" textfile = "$(find urdf01_rviz)/urdf/urdf/demo05_test.urdf" />
<!-- 2. 启动rviz -->
<node pkg = "rviz" type = "rviz" name = "rviz" args = "-d $(find urdf01_rviz)/config/show_mycar.rviz"/>
<!-- 3. 添加关节状态发布节点 -->
<node pkg = "joint_state_publisher" type = "joint_state_publisher" name = "joint_state_publisher" />
<!-- 4. 添加机器人状态发布节点 -->
<node pkg = "robot_state_publisher" type = "robot_state_publisher" name = "robot_state_publisher" />
<!-- 5. 关节运动控制节点 -->
<node pkg = "joint_state_publisher_gui" type = "joint_state_publisher_gui" name = "joint_state_publisher_gui" />
</launch>
添加极小球体
<!-- 1. 添加 base_footprint 只需要是一个极小的球体或者立方体就行-->
<link name = "base_footprint">
<visual>
<geometry>
<sphere radius = "0.001" />
</geometry>
<material name = "car_color">
<color rgba = "1 0 0 0.5" />
</material>
</visual>
</link>
添加底盘
<!-- 2. 添加底盘 -->
<!--
形状: 底盘为圆柱状，半径 0.1m，高 0.08m
离地间距: 0.015m
-->
<!-- 2-1 link -->
<link name = "base_link">
<visual>
<geometry>
<cylinder radius = "0.1" length = "0.08" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<material name = "baselink_color">
<color rgba = "1 0.5 0.2 0.5" />
</material>
</visual>
</link>
<!-- 2-2 joint 半个车体的高度0.08m/2+0.015m-->
<joint name = "link2footprint" type = "fixed">
<parent link = "base_footprint" />
<child link = "base_link" />
<!-- 关节z上的设置 = 车体高度/2 + 离地高度 -->
<origin xyz = "0 0 0.055" rpy = "0 0 0" />
</joint>
添加驱动轮
驱动轮在调试中抖动，是因为开了两个joint_state_publisher,一个是静态，一个是动态，造成tf冲突
<!-- 4. 添加万向轮 -->
<!--
形状: 球
半径: 0.0075m
-->
<!-- 4-1 link -->
<link name = "front_wheel">
<visual>
<geometry>
<sphere radius = "0.0075" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<material name = "wheel_color">
<color rbga = "0 0 0 0.3" />
</material>
</visual>
</link>
<link name = "back_wheel">
<visual>
<geometry>
<sphere radius = "0.0075" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<material name = "wheel_color">
<color rbga = "0 0 0 0.3" />
</material>
</visual>
</link>
<!-- 4-2 joint -->
<joint name = "front2link" type = "continuous">
<parent link = "base_link" />
<child link = "front_wheel" />
<!--
x: 0.08 小于半径
y: 0
z: 0.04 + 0.015 - 0.0075 = 0.0475
-->
<origin xyz = "0.08 0 -0.0475" rpy = "0 0 0" />
<!-- 转动时绕Y轴 -->
<axis xyz = "0 1 0" />
</joint>
<joint name = "back2link" type = "continuous">
<parent link = "base_link" />
<child link = "back_wheel" />
<!--
x: 0.08 小于半径
y: 0
z: 0.04 + 0.015 - 0.0075 = 0.0475
-->
<origin xyz = "-0.08 0 -0.0475" rpy = "0 0 0" />
<!-- 转动时绕Y轴 -->
<axis xyz = "0 1 0" />
</joint>
URDF工具
在终端中打开urdf文件夹
check_urdf demo05_test.urdf
urdf_to_graphiz demo05_test.urdf ， 出现以下
Created file mycar.gv
Created file mycar.pdf
evince mycar.pdf
urdf总程序 demo05_test.urdf
<robot name = "mycar">
<!-- 1. 添加 base_footprint 只需要是一个极小的球体或者立方体就行-->
<link name = "base_footprint">
<visual>
<geometry>
<sphere radius = "0.001" />
</geometry>
<material name = "car_color">
<color rgba = "1 0 0 0.5" />
</material>
</visual>
</link>
<!-- 2. 添加底盘 -->
<!--
形状: 底盘为圆柱状，半径 0.1m，高 0.08m
离地间距: 0.015m
-->
<!-- 2-1 link -->
<link name = "base_link">
<visual>
<geometry>
<cylinder radius = "0.1" length = "0.08" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<material name = "baselink_color">
<color rgba = "1 0.5 0.2 0.5" />
</material>
</visual>
</link>
<!-- 2-2 joint 半个车体的高度0.08m/2+0.015m-->
<joint name = "link2footprint" type = "fixed">
<parent link = "base_footprint" />
<child link = "base_link" />
<!-- 关节z上的设置 = 车体高度/2 + 离地高度 -->
<origin xyz = "0 0 0.055" rpy = "0 0 0" />
</joint>
<!-- 3. 添加驱动轮 -->
<!--
形状: 圆柱
半径: 0.0325m
长度: 0.015m
-->
<!-- 3-1 link -->
<link name = "left_wheel">
<visual>
<geometry>
<cylinder radius = "0.0325" length = "0.015" />
</geometry>
<!-- 正常情况下圆柱面朝上,这里驱动轮在左右,需要修改欧拉角,沿x轴翻滚90度,约为1.57弧度 -->
<origin xyz = "0 0 0" rpy = "1.5708 0 0"/>
<material name = "wheel_color">
<color rgba = "0 0 0 0.3" />
</material>
</visual>
</link>
<link name = "right_wheel">
<visual>
<geometry>
<cylinder radius = "0.0325" length = "0.015" />
</geometry>
<!-- 正常情况下圆柱面朝上,这里驱动轮在左右,需要修改欧拉角,沿x轴翻滚90度,约为1.57弧度 -->
<origin xyz = "0 0 0" rpy = "1.5708 0 0"/>
<material name = "wheel_color">
<color rgba = "0 0 0 0.3" />
</material>
</visual>
</link>
<!-- 3-2 joint 左关节 -->
<joint name = "lest2link" type = "continuous">
<parent link = "base_link" />
<child link = "left_wheel" />
<!--
x: 0 无偏移
y: 0.1 车体半径
z: 0.04 + 0.015 - 0.0325 = 0.055 - 0.0325 = 0.0225,在下面为负数
车体高度 / 2 + 离地间距 - 车轮半径
-->
<origin xyz = "0 0.1 -0.0225" rpy = "0 0 0" />
<!-- 转动时绕Y轴 -->
<axis xyz = "0 1 0" />
</joint>
<!-- 3-2 joint 左关节 -->
<joint name = "right2link" type = "continuous">
<parent link = "base_link" />
<child link = "right_wheel" />
<!--
x: 0 无偏移
y: 0.1 车体半径，这里要变成负值
z: 0.04 + 0.015 - 0.0325 = 0.055 - 0.0325 = 0.0225,在下面为负数
车体高度 / 2 + 离地间距 - 车轮半径
-->
<origin xyz = "0 -0.1 -0.0225" rpy = "0 0 0" />
<!-- 转动时绕Y轴 -->
<axis xyz = "0 1 0" />
</joint>
<!-- 4. 添加万向轮 -->
<!--
形状: 球
半径: 0.0075m
-->
<!-- 4-1 link -->
<link name = "front_wheel">
<visual>
<geometry>
<sphere radius = "0.0075" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<material name = "wheel_color">
<color rbga = "0 0 0 0.3" />
</material>
</visual>
</link>
<link name = "back_wheel">
<visual>
<geometry>
<sphere radius = "0.0075" />
</geometry>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<material name = "wheel_color">
<color rbga = "0 0 0 0.3" />
</material>
</visual>
</link>
<!-- 4-2 joint -->
<joint name = "front2link" type = "continuous">
<parent link = "base_link" />
<child link = "front_wheel" />
<!--
x: 0.08 小于半径
y: 0
z: 0.04 + 0.015 - 0.0075 = 0.0475
-->
<origin xyz = "0.08 0 -0.0475" rpy = "0 0 0" />
<!-- 转动时绕Y轴 -->
<axis xyz = "0 1 0" />
</joint>
<joint name = "back2link" type = "continuous">
<parent link = "base_link" />
<child link = "back_wheel" />
<!--
x: 0.08 小于半径0.1
y: 0
z: 0.04 + 0.015 - 0.0075 = 0.0475
-->
<origin xyz = "-0.08 0 -0.0475" rpy = "0 0 0" />
<!-- 转动时绕Y轴 -->
<axis xyz = "0 1 0" />
</joint>
</robot>
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