Ubuntu18.04中用ros（melodic）自带的gazebo仿真器搭建虚拟环境

最新推荐文章于 2023-08-11 11:06:40 发布

高数有毒

最新推荐文章于 2023-08-11 11:06:40 发布

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本文链接：https://blog.csdn.net/qq_43643118/article/details/114979383

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gaze仿真器搭建虚拟环境

前期

拥有一个机器人urdf模型，参考此博客自己搭建一个ROS（urdf）机器人建模，或者花钱下载。

搭建机器人仿真环境

配置文件
在机器人模型的工作空间内，创建gazebo

cd ~/catkin_work/src/mbot_description/urdf/xacro
mkdir gazebo
cd gazebo
sudo gedit mbot_base_gazebo.xacro

配置mbot_base_gazebo.xacro文件：

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<<!-- 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"/>
        <!-- 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>
<!-- 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>
    <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>
<!-- 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>
  <!-- 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>
    <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>
        <!-- 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> 
</robot>

配置mbot_gazebo.xacro文件：

<?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>

配置launch文件：

cd ~/catkin_work/src/mbot_description/launch/xacro
mkdir gazebo
cd gazebo
sudo gedit mbot_base_gazebo.launch

mbot_base_gazebo.launch文件：

<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>

效果
在工作空间内运行launch文件

roslaunch mbot_description mbot_base_gazebo.launch

如果报错类似：RLException: [mav_hovering_example.launch] is neither a launch file in package [rotors_gazebo] nor is [rotors_gazebo] a launch file name
The traceback for the exception was written to the log file
解决办法是：
$ catkin_make
$ source catkin_work/devel/setup.bash

运行结果：
在这里插入图片描述

环境设置

打开gazebo，进行环境设置
终端输入命令：

  gazebo #启动gaze
  也可以：
 roscore #启动ros系统
 rosrun gazebo_ros gazebo #再启用gazebo平台

在这里插入图片描述

如果打开gazebo时报错VMware: vmw_ioctl_command error
可以在~/.bashrc文件写入export SVGA_VGPU10=0：
`echo “export SVGA_VGPU10=0” >> ~/.bashrc

source ~/.bashrc`

进行环境搭建
点击Edit->Buliding Editor，

点击左侧的图标，就可以在右边空白的格子上进行环境搭建了，右键取消

双击也可以进行参数的修改。
图：
建好的模型：

选择File——Save As保存退出Buliding edior
添加物品：

保存：
File——Save World As——放置在/catkin_work/src/mbot_description/worlds
方式同上面一样！！！

设置launch文件：

 <!-- 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"/>

传感器设置，并通过Rivz显示

摄像头仿真

创建配置文件

cd ~/catkin_work/src/mbot_description/urdf/xacro
mkdir sensors
cd sensors
sudo gedit camera_gazebo.xacro

camera_gazebo.xacro文件：

<?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>

创建mbot_with_camera_gazebo.xacro文件

sudo gedit mbot_with_camera_gazebo.xacro

mbot_with_camera_gazebo.xacro文件：

<?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>

输入命令运行：

roslaunch mbot_gazebo view_mbot_with_camera_gazebo.launch

查看摄像头显示内容：

rqt_image_view

在image_view 中选择/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。即可看到动态画面

雷达仿真
创建配置文件

cd ~/catkin_work/src/mbot_description/urdf/xacro/sensors
sudo gedit lidar_gazebo.xacro

lidar_gazebo.xacro文件:

<?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>

创建mbot_with_laser_gazebo.xacro文件

sudo gedit mbot_with_laser_gazebo.xacro

mbot_with_laser_gazebo.xacro文件：

<?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>

创建view_mbot_with_laser_gazebo.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：

<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

同样也是通过以下命令启动键盘控制：

roslaunch mbot_teleop mbot_teleop.launch

启动rviz
rosrun rviz rviz

点击 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
通过键盘控制机器人，查看摄像头所得到的效果

Kinect仿真
创建配置文件

cd ~/catkin_ws/src/mbot_description/urdf/xacro/sensors
sudo gedit kinect_gazebo.xacro

kinect_gazebo.xacro文件：

在这里插入代码片

sudo gedit mbot_with_kinect_gazebo.xacro

mbot_with_kinect_gazebo.xacro文件：

在这里插入代码片

创建view_mbot_with_kinect_gazebo.launch文件

cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
sudo gedit view_mbot_with_kinect_gazebo.launch

运行gazebo

roslaunch mbot_description  view_mbot_with_kinect_gazebo.launch

同样启动键盘控制

roslaunch mbot_teleop mbot_teleop.launch

键盘主要有u，i，o，j，k，l等。
Rviz查看Kinect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PointCloud2选择topic /kinect/depth/points出现相应信息

总结+参考

gazebo老是闪退真的是太烦人了。有待贴图
虚拟机运行Gazebo出现VMware: vmw_ioctl_command error
urdf机器人模型搭建

高数有毒

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