文章目录
Gazebo物理仿真环境搭建
仿真步骤
- 配置机器人模型
- 创建仿真环境
- 开始仿真
配置机器人模型
机器人底盘仿真
前期参考链接:
https://blog.csdn.net/qq_43279579/article/details/115012425
cd ~/catkin_ws/src/mbot_description/urdf/xacro
mkdir gazebo
cd gazebo
sudo gedit mbot_base_gazebo.xacro
声明xml文件
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--存放下面相关定义内容-->
</robot>
link添加惯性参数和碰撞属性与gazebo标签
各link的质量(mass)属性声明及其他常量声明
<!-- PROPERTY LIST -->
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="base_mass" value="20" />
<xacro:property name="base_radius" value="0.20"/>
<xacro:property name="base_length" value="0.16"/>
<xacro:property name="wheel_mass" value="2" />
<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_mass" value="0.5" />
<xacro:property name="caster_radius" value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
<xacro:property name="caster_joint_x" value="0.18"/>
颜色属性声明
<!-- 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>
宏定义 球体惯性矩阵计算
<!-- Macro for inertia matrix -->
<xacro:macro name="sphere_inertial_matrix" params="m r">
<inertial>
<mass value="${m}" />
<inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
iyy="${2*m*r*r/5}" iyz="0"
izz="${2*m*r*r/5}" />
</inertial>
</xacro:macro>
宏定义 圆柱体惯性矩阵计算
<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>
定义驱动轮的宏定义
与参考链接的主要区别在于
link增加惯性属性和碰撞属性
link添加gazebo标签
joint添加传动装置
<!-- Macro for robot wheel -->
<xacro:macro name="wheel" params="prefix reflect">
<joint name="${prefix}_wheel_joint" type="continuous">
<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>
<!-- collision -->
<!-- the same with visual -->
<!--增加惯性属性和碰撞属性-->
<collision>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
</geometry>
</collision>
<!-- inertial -->
<cylinder_inertial_matrix m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
</link>
<!--添加gazebo标签为各link配颜色 ,gazebo与rivz颜色设置不兼容-->
<!-- Add gazebo tag to link -->
<gazebo reference="${prefix}_wheel_link">
<material>Gazebo/Gray</material>
</gazebo>
<!--joint添加传动装置,用得 transmission 标签,小车轮子用速度控制接口-->
<!-- Transmission is important to link the joints and the controller -->
<transmission name="${prefix}_wheel_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_wheel_joint" >
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_wheel_joint_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
定义前后轮的宏定义
与参考链接的主要区别在于
link增加惯性属性和碰撞属性
link添加gazebo标签
<!-- Macro for robot caster -->
<xacro:macro name="caster" params="prefix reflect">
<joint name="${prefix}_caster_joint" type="continuous">
<origin xyz="${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>
<!-- 碰撞属性 -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${caster_radius}" />
</geometry>
</collision>
<!-- 惯性属性 -->
<sphere_inertial_matrix m="${caster_mass}" r="${caster_radius}" />
</link>
<!--添加gazebo标签,为各link配颜色-->
<gazebo reference="${prefix}_caster_link">
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
定义主体base并添加内容
<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>
<!-- 给 base_footprint 添加标签 -->
<gazebo reference="base_footprint">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
<!--base_link添加碰撞属性和惯性属性-->
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="${base_length}" radius="${base_radius}"/>
</geometry>
<material name="yellow" />
</visual>
<collision>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="${base_length}" radius="${base_radius}"/>
</geometry>
</collision>
<cylinder_inertial_matrix m="${base_mass}" r="${base_radius}" h="${base_length}" />
</link>
<!--base_link添加gazebo标签-->
<gazebo reference="base_link">
<material>Gazebo/Blue</material>
</gazebo>
<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 -->
</xacro:macro>
添加gazebo控制插件(类似驱动板)
小车需要差速控制器,gazebo里差速控制器的插件是现成的libgazebo_ros_diff_drive.so文件
<!-- controller -->
<gazebo>
<plugin name="differential_drive_controller"
filename="libgazebo_ros_diff_drive.so"> <!-- gazebo提供得差速控制器插件 -->
<!-- 控制器所需参数 -->
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>true</publishWheelTF>
<robotNamespace>/</robotNamespace><!-- 机器人命名空间 订阅和发布得话题 前面 会加上命名空间 /说明没有添加-->
<publishTf>1</publishTf>
<publishWheelJointState>true</publishWheelJointState>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<legacyMode>true</legacyMode>
<leftJoint>left_wheel_joint</leftJoint> <!-- 控制得joint在哪里,必须和上面得joint名称一致 -->
<rightJoint>right_wheel_joint</rightJoint><!-- 控制得joint在哪里,必须和上面得joint名称一致 -->
<wheelSeparation>${wheel_joint_y*2}</wheelSeparation><!-- 两个轮子得间距 -->
<wheelDiameter>${2*wheel_radius}</wheelDiameter>
<broadcastTF>1</broadcastTF>
<wheelTorque>30</wheelTorque>
<wheelAcceleration>1.8</wheelAcceleration>
<commandTopic>cmd_vel</commandTopic> <!-- 订阅得话题:速度控制指令 -->
<odometryFrame>odom</odometryFrame>
<odometryTopic>odom</odometryTopic> <!-- 发布里程计信息 -->
<robotBaseFrame>base_footprint</robotBaseFrame><!-- 设置controler所控制的机器人的坐标系是哪个坐标系 -->
</plugin>
</gazebo>
sudo gedit mbot_gazebo.xacro
mbot_gazebo.xacro文件内容
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /> <!-- 包含文件 -->
<mbot_base_gazebo/> <!-- 调用宏定义 -->
</robot>
编辑launch文件
cd ~/catkin_ws/src/mbot_description/launch/xacro
mkdir gazebo
cd gazebo
sudo gedit mbot_base_gazebo.launch
mbot_base_gazebo.launch文件内容
<launch>
<!-- 设置launch文件的参数 -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 运行gazebo仿真环境 -->
<include file="$(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 '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" />
<!-- 运行joint_state_publisher节点,发布机器人的关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加载机器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
运行
运行launch文件
roslaunch mbot_description mbot_base_gazebo.launch
创建仿真环境
直接添加环境模型
①插入模型
模型放置到~/.gazebo/models 文件夹下——在gazebo的左侧列表点击“insert”(可以看到里面有很多的模型,我们只需要从列表中拖出我们需要的模型放置到仿真环境中就可以)
最终添加的环境内容
②保存仿真环境
File——Save World As——放置在功能包~/catkin_ws/src/mbot_description/worlds下面(路径自己选择,主要是在 ~/catkin_ws/src/)
③关闭gazebo界面
使用Building Editor
①创建模型
Editor——Building Editor,上面界面用于图形编辑,下面是仿真环境;
绘制好的环境模型
File——Save保存我们的模型文件(自己设置模型文件名字)——Exit Building Editor(退出编辑界面),可以看到我们的仿真环境已经在gazebo中显示;
②保存仿真环境
File——Save World As——放置在功能包~/catkin_ws/src/mbot_description/worlds下面(路径自己选择,主要是在 ~/catkin_ws/src/)
方式同上面一样!!!
③关闭gazebo界面
仿真使用
在launch文件中
设置launch文件的参数处加如.world文件的路径即可这样就可以选择相要使用的仿真环境
<!-- 设置launch文件的参数 -->
<arg name="world_name" value="$(find mbot_gazebo)/worlds/playground.world"/><!-- 要加入的部分 -->
<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"/>
传感器仿真
摄像头仿真
cd ~/catkin_ws/src/mbot_description/urdf/xacro
mkdir sensors
cd sensors
sudo gedit camera_gazebo.xacro
- 摄像头link添加碰撞属性和惯性属性
- 添加gazebo标签
- 添加gazebo摄像头插件
camera_gazebo.xacro文件内容
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera">
<xacro:macro name="usb_camera" params="prefix:=camera">
<link name="${prefix}_link">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01" />
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.01 0.04 0.04" />
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.01 0.04 0.04" />
</geometry>
</collision>
</link>
<gazebo reference="${prefix}_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${prefix}_link"> <!-- 这个sensor代表的link -->
<sensor type="camera" name="camera_node">
<update_rate>30.0</update_rate><!-- 摄像头发布频率 -->
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov><!-- 摄像头可视范围 -->
<image>
<width>1280</width><!-- 摄像头分辨率 -->
<height>720</height><!-- 摄像头分辨率 -->
<format>R8G8B8</format><!-- 摄像头数据格式 -->
</image>
<clip>
<near>0.02</near><!-- 最近距离 -->
<far>300</far><!-- 最远距离 -->
</clip>
<noise>
<type>gaussian</type><!-- 摄像头高斯噪声 -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="gazebo_camera" filename="libgazebo_ros_camera.so"><!-- 加载插件,实现摄像头功能 -->
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/camera</cameraName><!-- 命名空间 -->
<imageTopicName>image_raw</imageTopicName><!-- 发布图片信息话题名称 -->
<cameraInfoTopicName>camera_info</cameraInfoTopicName><!-- 发布摄像头信息话题名称 -->
<frameName>camera_link</frameName><!-- 数据的坐标系统 -->
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
sudo gedit mbot_with_camera_gazebo.xacro
mbot_with_camera_gazebo.xacro文件内容
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /><!-- include机器人底盘mbot_base_gazebo.xacro -->
<xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/camera_gazebo.xacro" /><!-- include机器人传感器摄像头camera_gazebo.xacro -->
<!-- 声明参数 -->
<xacro:property name="camera_offset_x" value="0.17" />
<xacro:property name="camera_offset_y" value="0" />
<xacro:property name="camera_offset_z" value="0.10" />
<!-- Camera -->
<joint name="camera_joint" type="fixed"><!-- 摄像头joint连接方式 -->
<origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<xacro:usb_camera prefix="camera"/><!-- 调用摄像头宏 -->
<mbot_base_gazebo/><!-- 调用机器人底盘宏 -->
</robot>
带摄像头的机器人launch文件
cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
sudo gedit view_mbot_with_camera_gazebo.launch
view_mbot_with_camera_gazebo.launch文件内容
<launch>
<arg name="world_name" value="$(find mbot_description)/worlds/playground.world"/>
<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"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<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="$(arg headless)"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_camera_gazebo.xacro'" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
运行
roslaunch mbot_gazebo view_mbot_with_camera_gazebo.launch
用qt工具查看摄像头当前画面
rqt_image_view
选择/camera/image_raw
启动键盘控制
roslaunch mbot_teleop mbot_teleop.launch
通过按按键j,u,i,o控制摄像头视角
摄像头仿真就完成了。
Rviz查看摄像头采集的信息
启动rviz
rosrun rviz rviz
添加 add
1.选择机器人模型 RobotModel ,画面出现机器人
2.摄像头信息 image,选择image topic为/camera/image_raw 出现画面信息
激光雷达仿真
cd ~/catkin_ws/src/mbot_description/urdf/xacro/sensors
sudo gedit lidar_gazebo.xacro
- 激光雷达link添加碰撞属性和惯性属性
- 添加gazebo标签
- 添加gazebo激光雷达插件
lidar_gazebo.xacro文件内容
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="laser">
<xacro:macro name="rplidar" params="prefix">
<!-- Create laser reference frame -->
<link name="${prefix}_link">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01" />
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<cylinder length="0.06" radius="0.05"/>
</geometry>
</collision>
</link>
<gazebo reference="${prefix}_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${prefix}_link">
<sensor type="ray" name="rplidar">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>5.5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>-3</min_angle>
<max_angle>3</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>6.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>laser_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
sudo gedit mbot_with_laser_gazebo.xacro
mbot_with_laser_gazebo.xacro文件内容
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
<xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" />
<xacro:property name="lidar_offset_x" value="0" />
<xacro:property name="lidar_offset_y" value="0" />
<xacro:property name="lidar_offset_z" value="0.105" />
<!-- lidar -->
<joint name="lidar_joint" type="fixed">
<origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="laser_link"/>
</joint>
<rplidar prefix="laser"/>
<mbot_base_gazebo/>
</robot>
带激光雷达的机器人launch文件
cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
sudo gedit view_mbot_with_laser_gazebo.launch
view_mbot_with_laser_gazebo.launch文件内容
<launch>
<!-- 设置launch文件的参数 -->
<arg name="world_name" value="$(find mbot_description)/worlds/playground.world"/><!-- 设置仿真环境文件路径 -->
<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="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<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_with_laser_gazebo.xacro'" /> <!-- 设置机器人模型文件路径 -->
<!-- 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>
运行
roslaunch mbot_gazebo view_mbot_with_laser_gazebo.launch
激光雷达仿真就完成了。
启动键盘控制
roslaunch mbot_teleop mbot_teleop.launch
通过按按键j,u,i,o控制机器人
Rviz查看激光雷达采集的信息
启动rviz
rosrun rviz rviz
添加 add
1.选择机器人模型 RobotModel ,画面出现机器人
2. 选择LaserScan 选择topic /scan出现雷达信息
Kinect仿真
方法跟上面摄像头和激光雷达实现的方法类似,这里就不多加说明了,直接给出结果显示了。
gazebo显示
rviz查看kinect的信息
整个过程实在是有点复杂,要花费较多的时间去看,特别是在有时候整个运行过程不存在问题,但是就是不显示希望的效果,而且还不知道问题出在什么地方。文章代码可能在某些地方存在一些拼写问题,所以在文章末尾给出整个功能包下载链接。但是,要想理解这个过程,还需要看一下文章的一些内容。
参考链接
Gazebo物理仿真环境搭建 实例
ROS进阶—Gazebo物理仿真环境搭建
ROS中阶笔记(四):机器人仿真—Gazebo物理仿真环境搭建(重点)
ROS笔记之Gazebo机器人仿真(五)——Gazebo仿真环境搭建
功能包的下载链接:
https://gitee.com/harrietlh/mbot_description/tree/master