建造属于你的无人驾驶车——（四）URDF模型转换为XACRO模型

建造属于你的无人驾驶车！
本专栏持续更新中…
程序源码：https://github.com/kkmd66/ZZX_RUN
Solidworks模型文件：https://github.com/kkmd66/ZZX_RUN/releases

URDF模型转换为XACRO模型

写在前面：
XACRO模型相比于URDF模型有很多优势，我这边均未使用，因为Solidworks已经导出了大量文件，个人认为在该URDF模型中加入必要插件和描述即可。即本文不适合用来学习XACRO模型，只适合快速将URDF转为XACRO。

第一步，添加XACRO描述

xmlns:xacro="http://www.ros.org/wiki/xacro"

第二步，在URDF添加后缀.XACRO

此时，该文件即可被识别为XACRO模型。

源码中模型位置：src/zzx_run_gazebo/urdf/zzx_run_robot.urdf.xacro

该XML文件最下面插件Drive controller、ros_control plugin、friction为《建造属于你的无人驾驶车——（七）为XACRO模型添加GAZEBO属性与运动控制插件》中需要添加的内容，此阶段可不添加。

即下文：

<?xml version="1.0" encoding="utf-8"?>

<!-- This xacro was created by ZZX-->

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 

    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"

    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"

    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"

    name="zzx_run_robot">



<!--base_link-->

  <link

    name="base_link">

    <inertial>

      <origin

        xyz="0.00741047992278929 -0.00341114189657439 0.114186284669122"

        rpy="0 0 0" />

      <mass

        value="3.96236436148786" />

      <inertia

        ixx="0.178506185725259"

        ixy="0.000108304306880873"

        ixz="0.000169549055394087"

        iyy="0.404759631587269"

        iyz="1.00448230235288E-06"

        izz="0.561130623679876" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/base_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/base_link.STL" />

      </geometry>

    </collision>

  </link>





<!--base_footprint-->

   <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>



  <joint name="base_footprint_joint" type="fixed">

            <origin xyz="0 0 0.06746" rpy="0 0 0" />

            <parent link="base_footprint"/>

            <child link="base_link" />

  </joint>







<!--left_front_wheel_link-->

  <link

    name="left_front_wheel_link">

    <inertial>

      <origin

        xyz="-4.78387528979329E-07 0.0527999229567212 -1.21519264034697E-06"

        rpy="0 0 0" />

      <mass

        value="5.58816289074736" />

      <inertia

        ixx="0.0467264175417539"

        ixy="4.21922638423182E-10"

        ixz="4.31360254637763E-10"

        iyy="0.0872654610518181"

        iyz="5.11812738578019E-11"

        izz="0.0467264187453853" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/left_front_wheel_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/left_front_wheel_link.STL" />

      </geometry>

    </collision>

  </link>



  <!--left_front_wheel_link_joint-->

  <joint

    name="left_front_wheel_link_joint"

    type="continuous">

    <origin

      xyz="0.390000000000006 0.309999999999989 0.0849999999999932"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="left_front_wheel_link" />

    <axis

      xyz="0 1 0" />

  </joint>





  <!--left_behind_wheel_link-->

  <link

    name="left_behind_wheel_link">

    <inertial>

      <origin

        xyz="1.31378196099874E-07 0.0527999220844182 -1.30022679351027E-06"

        rpy="0 0 0" />

      <mass

        value="5.58816261475792" />

      <inertia

        ixx="0.0467264178495617"

        ixy="-1.48432408253074E-10"

        ixz="3.45934344448938E-11"

        iyy="0.0872654610290871"

        iyz="5.288073487882E-10"

        izz="0.0467264184119642" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/left_behind_wheel_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/left_behind_wheel_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--left_behind_wheel_link_joint-->

  <joint

    name="left_behind_wheel_link_joint"

    type="continuous">

    <origin

      xyz="-0.389999999999994 0.31 0.0850000000000068"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="left_behind_wheel_link" />

    <axis

      xyz="0 1 0" />

  </joint>





  <!--right_front_wheel_link-->

  <link

    name="right_front_wheel_link">

    <inertial>

      <origin

        xyz="1.23487383696386E-06 -0.052800077037773 4.18657537137879E-07"

        rpy="0 0 0" />

      <mass

        value="5.58816289283226" />

      <inertia

        ixx="0.0467264183997509"

        ixy="-4.77846900738126E-10"

        ixz="9.0196657416584E-11"

        iyy="0.0872654610291803"

        iyz="-2.63885619866361E-10"

        izz="0.0467264178624116" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/right_front_wheel_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/right_front_wheel_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--right_front_wheel_link_joint-->

  <joint

    name="right_front_wheel_link_joint"

    type="continuous">

    <origin

      xyz="0.389999999999997 -0.309999999999999 0.0849999999999932"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="right_front_wheel_link" />

    <axis

      xyz="0 1 0" />

  </joint>





  <!--right_behind_wheel_link-->

  <link

    name="right_behind_wheel_link">

    <inertial>

      <origin

        xyz="-1.17487549072814E-06 -0.0528000779026511 5.64813343303938E-07"

        rpy="0 0 0" />

      <mass

        value="5.58816261843466" />

      <inertia

        ixx="0.0467264186791865"

        ixy="2.30502475654598E-11"

        ixz="-5.12433901318596E-10"

        iyy="0.0872654610531356"

        iyz="-4.26967668323502E-10"

        izz="0.0467264176094793" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/right_behind_wheel_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/right_behind_wheel_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--right_behind_wheel_link_joint-->

  <joint

    name="right_behind_wheel_link_joint"

    type="continuous">

    <origin

      xyz="-0.390000000000003 -0.309999999999988 0.0850000000000068"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="right_behind_wheel_link" />

    <axis

      xyz="0 1 0" />

  </joint>





  <!--camera_link-->

  <link

    name="camera_link">

    <inertial>

      <origin

        xyz="-0.0168162954023792 0.00256898920993011 -0.000512016798250026"

        rpy="0 0 0" />

      <mass

        value="0.146986742470214" />

      <inertia

        ixx="0.000382731548245758"

        ixy="4.93963664924208E-07"

        ixz="-2.21084683413792E-07"

        iyy="2.18219626833256E-05"

        iyz="1.36591231466188E-08"

        izz="0.00039064219791682" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/camera_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/camera_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--camera_link_joint-->

  <joint

    name="camera_link_joint"

    type="fixed">

    <origin

      xyz="0.386266044151218 -0.124376808120098 0.277447441433298"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="camera_link" />

    <axis

      xyz="0 0 0" />

  </joint>



<!--camera_frame_optical-->

  <link name="camera_frame_optical"/>

  <joint name="camera_optical_joint" type="fixed">

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <parent link="camera_link"/>

            <child link="camera_frame_optical"/>

  </joint>





<!--lidar_link-->

  <link

    name="lidar_link">

    <inertial>

      <origin

        xyz="-0.000294907920402432 -2.58127452130996E-06 0.0357873616759956"

        rpy="0 0 0" />

      <mass

        value="0.584837208798273" />

      <inertia

        ixx="0.000628734791137339"

        ixy="1.12598116749922E-10"

        ixz="6.85180097758129E-08"

        iyy="0.000630029723696654"

        iyz="-5.00698245263915E-08"

        izz="0.000749153306350983" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 -0.04"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/lidar_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/lidar_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--lidar_link_joint-->

  <joint

    name="lidar_link_joint"

    type="fixed">

    <origin

      xyz="0.365857864376286 -0.120857864376271 0.396652891956056"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="lidar_link" />

    <axis

      xyz="0 0 0" />

  </joint>





  <!--senor-->

  <link

    name="sensor_front_left_link">

    <inertial>

      <origin

        xyz="0.000750000000000028 0 3.09553724072015E-05"

        rpy="0 0 0" />

      <mass

        value="0.00132898274514749" />

      <inertia

        ixx="2.65815808309703E-07"

        ixy="-3.24870024445377E-21"

        ixz="-7.30857667981816E-22"

        iyy="4.3932216790417E-08"

        iyz="2.51382133997089E-23"

        izz="2.22381960048716E-07" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_front_left_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_front_left_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--sensor_joint-->

  <joint

    name="sensor_front_left_link_joint"

    type="fixed">

    <origin

      xyz="0.496500000000005 0.251999999999993 0.0812075922005525"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="sensor_front_left_link" />

    <axis

      xyz="0 0 0" />

  </joint>





  <!--senor-->

  <link

    name="sensor_front_right_link">

    <inertial>

      <origin

        xyz="-0.00109177850153874 -7.49896209573109E-08 -2.31929230855993E-05"

        rpy="0 0 0" />

      <mass

        value="7.00274812620844E-05" />

      <inertia

        ixx="6.82924437603274E-10"

        ixy="2.65325849768784E-15"

        ixz="-1.17242461319838E-12"

        iyy="1.19817207558257E-10"

        iyz="5.21250136782328E-15"

        izz="5.98449941960741E-10" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_front_right_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.666666666666667 0.698039215686274 0.768627450980392 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_front_right_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--sensor_joint-->

  <joint

    name="sensor_front_right_link_joint"

    type="fixed">

    <origin

      xyz="0.496503236661323 -0.252916659440427 0.081388179281911"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="sensor_front_right_link" />

    <axis

      xyz="0 0 0" />

  </joint>





  <!--senor-->

  <link

    name="sensor_behind_left_link">

    <inertial>

      <origin

        xyz="-0.000750000000000028 5.55111512312578E-17 3.09553724072015E-05"

        rpy="0 0 0" />

      <mass

        value="0.00132898274514748" />

      <inertia

        ixx="2.65815808309701E-07"

        ixy="-3.19304338349288E-21"

        ixz="-7.5601583612258E-22"

        iyy="4.39322167904166E-08"

        iyz="-3.65599011246738E-22"

        izz="2.22381960048715E-07" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_behind_left_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_behind_left_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--sensor_joint-->

  <joint

    name="sensor_behind_left_link_joint"

    type="fixed">

    <origin

      xyz="-0.496499999999995 0.253000000000007 0.0812075922005699"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="sensor_behind_left_link" />

    <axis

      xyz="0 0 0" />

  </joint>







    <!--senor-->

  <link

    name="sensor_behind_right_link">

    <inertial>

      <origin

        xyz="-0.000750000000000028 0 3.09553724072292E-05"

        rpy="0 0 0" />

      <mass

        value="0.00132898274514749" />

      <inertia

        ixx="2.65815808309703E-07"

        ixy="-3.01916904385809E-21"

        ixz="-8.29243934464277E-22"

        iyy="4.39322167904169E-08"

        iyz="-1.53436981481006E-22"

        izz="2.22381960048716E-07" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_behind_right_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_behind_right_link.STL" />

      </geometry>

    </collision>

  </link>







  <!--sensor_joint-->

  <joint

    name="sensor_behind_right_link_joint"

    type="fixed">

    <origin

      xyz="-0.496500000000002 -0.252999999999993 0.0812075922005699"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="sensor_behind_right_link" />

    <axis

      xyz="0 0 0" />

  </joint>





    <!--senor-->

  <link

    name="sensor_left_link">

    <inertial>

      <origin

        xyz="-5.20417042793042E-18 0.000749999999999973 3.09553724072292E-05"

        rpy="0 0 0" />

      <mass

        value="0.00132898274514749" />

      <inertia

        ixx="4.39322167904169E-08"

        ixy="3.25536946488268E-21"

        ixz="3.07236956960054E-21"

        iyy="2.65815808309703E-07"

        iyz="1.1614249076827E-24"

        izz="2.22381960048716E-07" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_left_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_left_link.STL" />

      </geometry>

    </collision>

  </link>





  <!--sensor_joint-->

  <joint

    name="sensor_left_link_joint"

    type="fixed">

    <origin

      xyz="-0.0109999999999945 0.2965 0.0798244648313157"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="sensor_left_link" />

    <axis

      xyz="0 0 0" />

  </joint>





    <!--senor-->

  <link

    name="sensor_right_link">

    <inertial>

      <origin

        xyz="1.73472347597681E-18 -0.000750000000000028 3.09553724072154E-05"

        rpy="0 0 0" />

      <mass

        value="0.00132898274514748" />

      <inertia

        ixx="4.39322167904168E-08"

        ixy="3.2596193594168E-21"

        ixz="3.15270186615642E-21"

        iyy="2.65815808309702E-07"

        iyz="3.06525351744164E-24"

        izz="2.22381960048716E-07" />

    </inertial>

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_right_link.STL" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <mesh

          filename="package://zzx_run_description/meshes/sensor_right_link.STL" />

      </geometry>

    </collision>

  </link>

  



  <!--sensor_joint-->

  <joint

    name="sensor_right_link_joint"

    type="fixed">

    <origin

      xyz="-0.0120000000000028 -0.2965 0.0798244648313158"

      rpy="0 0 0" />

    <parent

      link="base_link" />

    <child

      link="sensor_right_link" />

    <axis

      xyz="0 0 0" />

  </joint>





<!--lidar_link-->

        <gazebo reference="lidar_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>lidar_link</frameName>

                </plugin>

            </sensor>

        </gazebo>





<!-- Drive controller -->

<gazebo>

  <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">

    <updateRate>100.0</updateRate>

    <robotNamespace></robotNamespace>

    <leftFrontJoint>left_front_wheel_link_joint</leftFrontJoint>

    <rightFrontJoint>right_front_wheel_link_joint</rightFrontJoint>

    <leftRearJoint>left_behind_wheel_link_joint</leftRearJoint>

    <rightRearJoint>right_behind_wheel_link_joint</rightRearJoint>

    <wheelSeparation>0.64</wheelSeparation>

    <wheelDiameter>0.33</wheelDiameter>

    <commandTopic>cmd_vel</commandTopic>

    <odometryTopic>odom</odometryTopic>

    <robotBaseFrame>base_footprint</robotBaseFrame>

    <odometryFrame>odom</odometryFrame>

    <torque>1000</torque>

    <topicName>cmd_vel</topicName>

    <broadcastTF>1</broadcastTF>

  </plugin>

</gazebo>





<!-- ros_control plugin -->

  <gazebo>

    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

      <robotNamespace>/zzx_run_robot</robotNamespace>

      <legacyModeNS>true</legacyModeNS>

    </plugin>

  </gazebo>



<!--friction-->

 <gazebo reference="left_front_wheel_link">

		    <mu1>10000</mu1>

		    <mu2>10000</mu2>

		    <kp>10000000</kp>

		    <kd>1</kd>

	</gazebo>



  <gazebo reference="left_behind_wheel_link">



		    <mu1>10000</mu1>

		    <mu2>10000</mu2>

		    <kp>10000000</kp>

		    <kd>1</kd>

	</gazebo>



  <gazebo reference="right_front_wheel_link">

		    <mu1>10000</mu1>

		    <mu2>10000</mu2>

		    <kp>10000000</kp>

		    <kd>1</kd>

	</gazebo>



  <gazebo reference="right_behind_wheel_link">

		    <mu1>10000</mu1>

		    <mu2>10000</mu2>

		    <kp>10000000</kp>

		    <kd>1</kd>

	</gazebo>





</robot>

最后

有问题可以和我交流哦~
wecht id：kkmd66-2