ArbotiX的介绍
ArbotiX是一款控制电机、舵机的硬件控制板。它提供了相应的ROS功能包,提供了一个差速控制器,通过接收速度控制指令,更新机器人的里程计状态。
安装Arbotix功能包
1.下载功能包
cd ~/catkin_ws/src
sudo git clone git://github.com/vanadiumlabs/arbotix_ros.git
2.编译功能包
cd ~/catkin_ws
catkin_make
配置launch,urdf文件
cd ~/catkin_ws/src/mbot_description/urdf
mkdir xacro
cd xacro
sudo gedit mbot_with_camera.xacro
mbot_with_camera.xacro文件内容
<!--声明xml文件及版本-->
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--定义相关机器人常量-->
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="base_radius" value="0.20"/>
<xacro:property name="base_length" value="0.16"/>
<xacro:property name="wheel_radius" value="0.06"/>
<xacro:property name="wheel_length" value="0.025"/>
<xacro:property name="wheel_joint_y" value="0.19"/>
<xacro:property name="wheel_joint_z" value="0.05"/>
<xacro:property name="caster_radius" value="0.015"/>
<xacro:property name="caster_joint_x" value="0.18"/>
<xacro:property name="camera_joint_x" value="0.17"/>
<xacro:property name="camera_joint_z" value="0.10"/>
<!--定义相关机器人颜色常量-->
<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>
<!--定义驱动轮的宏定义-->
<!--prefix(左轮还是右轮) reflect(镜像关系)-->
<xacro:macro name="wheel" params="prefix reflect">
<joint name="${prefix}_wheel_joint" type="fixed">
<origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="${prefix}_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${prefix}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
</geometry>
<material name="gray" />
</visual>
</link>
</xacro:macro>
<!--定义支撑轮的宏定义-->
<!--prefix(前轮还是后轮) reflect(镜像关系)-->
<xacro:macro name="caster" params="prefix reflect">
<joint name="${prefix}_caster_joint" type="fixed">
<origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="${prefix}_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${prefix}_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${caster_radius}" />
</geometry>
<material name="black" />
</visual>
</link>
</xacro:macro>
<!--摄像头宏定义-->
<xacro:macro name="camera" params="prefix reflect">
<joint name="camera_joint" type="fixed">
<origin xyz="${camera_joint_x} 0 ${camera_joint_z}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.03 0.04 0.04" />
<!--外观是个盒子模拟成摄像头,长宽高分别是0.03 0.04 0.04-->
</geometry>
<material name="black"/>
</visual>
</link>
</xacro:macro>
<!--定义主体base -->
<xacro:macro name="mbot_base"> <!-- 宏定义 -->
<link name="base_footprint"> <!-- 主要作用可以修改机器人主体的整体位置 -->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed"><!-- 让机器人的base_link上移,至车轮与水平线平齐 -->
<origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="${base_length}" radius="${base_radius}"/>
</geometry>
<material name="yellow" />
</visual>
</link>
<wheel prefix="left" reflect="-1"/> <!-- 调用驱动轮子宏定义 -->
<wheel prefix="right" reflect="1"/> <!-- 调用驱动轮子宏定义 -->
<caster prefix="front" reflect="-1"/> <!-- 调用支撑轮子宏定义 -->
<caster prefix="back" reflect="1"/> <!-- 调用支撑轮子宏定义 -->
<camera/><!-- 调用摄像头宏定义 -->
</xacro:macro>
</robot>
sudo gedit mbot.xacro
mbot.xacro文件内容
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/mbot_with_camera.xacro" /> <!-- 包含文件 -->
<mbot_base/> <!-- 调用宏定义 -->
</robot>
launch文件
cd ~/catkin_ws/src/mbot_description/launch/xacro
sudo gedit arbotix_mbot_with_camera_xacro.launch
arbotix_mbot_with_camera_xacro.launch文件内容
<launch>
<arg name="model" default="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/mbot.xacro'" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(arg model)" />
<!-- 设置GUI参数,显示关节控制插件 -->
<param name="use_gui" value="$(arg gui)"/>
<!-- 启动 arbotix_python 节点-->
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
<!-- 加载控制器参数-->
<rosparam file="$(find mbot_description)/config/fake_mbot_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node>
<!-- 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" />
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- 运行rviz可视化界面 -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_arbotix.rviz" required="true" />
</launch>
配置控制器参数
cd ~/catkin_ws/src/mbot_description/config
sudo gedit fake_mbot_arbotix.yaml
fake_mbot_arbotix.yaml文件内容
controllers: {
base_controller: {
type: diff_controller,
base_frame_id: base_footprint,
base_width: 0.26,
ticks_meter: 4100,
Kp: 12,
Kd: 12,
Ki: 0,
Ko: 50,
accel_limit: 1.0
}
}
启动仿真
roslaunch mbot_description arbotix_mbot_with_camera_xacro.launch
启动键盘控制节点
roslaunch mbot_teleop mbot_teleop.launch
错误如下图所示
解决方法
下载对应的功能包
https://gitee.com/harrietlh/mbot_teleop/tree/master/mbot_teleop
将下载的文件放到~ /catkin_ws/src
目录下,在~/catkin_ws
下执行catkin_make
无法控制机器人的运动,暂时还不知道哪里存在问题。后续解决后,会分享出来。
参考链接
1.ArbotiX+rviz功能仿真
2.mbot巡线机器人编程_ROS中阶笔记(三):机器人仿真—ArbotiX+rviz功能仿真
3.ROS进阶—ArbotiX + rviz功能仿真