ROS学习第三十五节——URDF集成Gazebo实操

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于 2023-04-24 07:31:15 发布

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分类专栏： ROS 文章标签：学习机器人

本文链接：https://blog.csdn.net/qq_45685327/article/details/130322127

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https://download.csdn.net/download/qq_45685327/87719249

1.编写封装惯性矩阵算法的 xacro 文件

head.xacro

<robot name="base" xmlns:xacro="http://wiki.ros.org/xacro">
    <!-- 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>

    <xacro:macro name="Box_inertial_matrix" params="m l w h">
       <inertial>
               <mass value="${m}" />
               <inertia ixx="${m*(h*h + l*l)/12}" ixy = "0" ixz = "0"
                   iyy="${m*(w*w + l*l)/12}" iyz= "0"
                   izz="${m*(w*w + h*h)/12}" />
       </inertial>
   </xacro:macro>
</robot>

2.底盘 Xacro 文件

deamo02_base.xacro

 
<robot name="my_base" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
    <xacro:property name="PI" value="3.1415926"/>
 
    <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
    </material>
 
    <xacro:property name="base_footprint_radius" value="0.001" /> 
    <xacro:property name="base_link_radius" value="0.1" />  
    <xacro:property name="base_link_length" value="0.08" />  
    <xacro:property name="earth_space" value="0.015" />  
    <xacro:property name="base_link_m" value="0.5" />  

 
    <link name="base_footprint">
      <visual>
        <geometry>
          <sphere radius="${base_footprint_radius}" />
        </geometry>
      </visual>
    </link>

    <link name="base_link">
      <visual>
        <geometry>
          <cylinder radius="${base_link_radius}" length="${base_link_length}" />
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <material name="yellow">
          <color rgba="0.5 0.3 0.0 0.5" />
        </material>
      </visual>
      <collision>
        <geometry>
          <cylinder radius="${base_link_radius}" length="${base_link_length}" />
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
      </collision>
      <xacro:cylinder_inertial_matrix m="${base_link_m}" r="${base_link_radius}" h="${base_link_length}" />

    </link>


    <joint name="base_link2base_footprint" type="fixed">
      <parent link="base_footprint" />
      <child link="base_link" />
      <origin xyz="0 0 ${earth_space + base_link_length / 2 }" />
    </joint>
    <gazebo reference="base_link">
        <material>Gazebo/Yellow</material>
    </gazebo>

 
    <xacro:property name="wheel_radius" value="0.0325" /> 
    <xacro:property name="wheel_length" value="0.015" /> 
    <xacro:property name="wheel_m" value="0.05" />  

 
    <xacro:macro name="add_wheels" params="name flag">
      <link name="${name}_wheel">
        <visual>
          <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_length}" />
          </geometry>
          <origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
          <material name="black" />
        </visual>
        <collision>
          <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_length}" />
          </geometry>
          <origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
        </collision>
        <xacro:cylinder_inertial_matrix m="${wheel_m}" r="${wheel_radius}" h="${wheel_length}" />

      </link>

      <joint name="${name}_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="${name}_wheel" />
        <origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" />
        <axis xyz="0 1 0" />
      </joint>

      <gazebo reference="${name}_wheel">
        <material>Gazebo/Red</material>
      </gazebo>

    </xacro:macro>
    <xacro:add_wheels name="left" flag="1" />
    <xacro:add_wheels name="right" flag="-1" />
 
    <xacro:property name="support_wheel_radius" value="0.0075" />
    <xacro:property name="support_wheel_m" value="0.03" /> 


    <xacro:macro name="add_support_wheel" params="name flag" >
      <link name="${name}_wheel">
        <visual>
            <geometry>
                <sphere radius="${support_wheel_radius}" />
            </geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="black" />
        </visual>
        <collision>
            <geometry>
                <sphere radius="${support_wheel_radius}" />
            </geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
        </collision>
        <xacro:sphere_inertial_matrix m="${support_wheel_m}" r="${support_wheel_radius}" />
      </link>

      <joint name="${name}_wheel2base_link" type="continuous">
          <parent link="base_link" />
          <child link="${name}_wheel" />
          <origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" />
          <axis xyz="1 1 1" />
      </joint>
      <gazebo reference="${name}_wheel">
        <material>Gazebo/Red</material>
      </gazebo>
    </xacro:macro>

    <xacro:add_support_wheel name="front" flag="1" />
    <xacro:add_support_wheel name="back" flag="-1" />


</robot>

注意: 如果机器人模型在 Gazebo 中产生了抖动，滑动，缓慢位移 .... 诸如此类情况，请查看

惯性矩阵是否设置了，且设置是否正确合理
车轮翻转需要依赖于 PI 值，如果 PI 值精度偏低，也可能导致上述情况产生

3.摄像头 Xacro 文件

deamo03_camera.xacro

 
<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">
 
    <xacro:property name="camera_length" value="0.01" />  
    <xacro:property name="camera_width" value="0.025" />  
    <xacro:property name="camera_height" value="0.025" /> 
    <xacro:property name="camera_x" value="0.08" />  
    <xacro:property name="camera_y" value="0.0" />  
    <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> 

    <xacro:property name="camera_m" value="0.01" />  

 
    <link name="camera">
        <visual>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
        <collision>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <xacro:Box_inertial_matrix m="${camera_m}" l="${camera_length}" w="${camera_width}" h="${camera_height}" />
    </link>

    <joint name="camera2base_link" type="fixed">
        <parent link="base_link" />
        <child link="camera" />
        <origin xyz="${camera_x} ${camera_y} ${camera_z}" />
    </joint>
    <gazebo reference="camera">
        <material>Gazebo/Blue</material>
    </gazebo>
</robot>

4.雷达 Xacro 文件

deamo04_laser.xacro

 
<robot name="my_laser" xmlns:xacro="http://wiki.ros.org/xacro">

 
    <xacro:property name="support_length" value="0.15" /> 
    <xacro:property name="support_radius" value="0.01" />  
    <xacro:property name="support_x" value="0.0" />  
    <xacro:property name="support_y" value="0.0" />  
    <xacro:property name="support_z" value="${base_link_length / 2 + support_length / 2}" />  

    <xacro:property name="support_m" value="0.02" />  

    <link name="support">
        <visual>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="red">
                <color rgba="0.8 0.2 0.0 0.8" />
            </material>
        </visual>

        <collision>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>

        <xacro:cylinder_inertial_matrix m="${support_m}" r="${support_radius}" h="${support_length}" />

    </link>

    <joint name="support2base_link" type="fixed">
        <parent link="base_link" />
        <child link="support" />
        <origin xyz="${support_x} ${support_y} ${support_z}" />
    </joint>

    <gazebo reference="support">
        <material>Gazebo/White</material>
    </gazebo>

 
    <xacro:property name="laser_length" value="0.05" /> 
    <xacro:property name="laser_radius" value="0.03" />  
    <xacro:property name="laser_x" value="0.0" /> 
    <xacro:property name="laser_y" value="0.0" />  
    <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" />  

    <xacro:property name="laser_m" value="0.1" />  

 
    <link name="laser">
        <visual>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
        <collision>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <xacro:cylinder_inertial_matrix m="${laser_m}" r="${laser_radius}" h="${laser_length}" />
    </link>

    <joint name="laser2support" type="fixed">
        <parent link="support" />
        <child link="laser" />
        <origin xyz="${laser_x} ${laser_y} ${laser_z}" />
    </joint>
    <gazebo reference="laser">
        <material>Gazebo/Black</material>
    </gazebo>
</robot>

5.组合底盘、摄像头与雷达的 Xacro 文件

deamo05_Gazebocar.xacro


<robot name="xacrocar" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="head.xacro" />
    <xacro:include filename="deamo02_base.xacro" />
    <xacro:include filename="deamo03_camera.xacro" />
    <xacro:include filename="deamo04_laser.xacro" />
</robot>

6.编写launch文件

deamo02_Gazebocar.launch

<launch>

    <!-- 将 Urdf 文件的内容加载到参数服务器 -->
    <param name="robot_description" command="$(find xacro)/xacro $(find urdf02_gazebo)/urdf/deamo05_Gazebocar.xacro" />
    <!-- 启动 gazebo -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" />

    <!-- 在 gazebo 中显示机器人模型 -->
    <node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model mycar -param robot_description"  />
</launch>

7.运行launch文件查看效果

source ./devel/setup.bash
roslaunch urdf02_gazebo deamo02_Gazebocar.launch

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ROS学习第三十五节——URDF集成Gazebo实操

注意: 如果机器人模型在 Gazebo 中产生了抖动，滑动，缓慢位移 .... 诸如此类情况，请查看。车轮翻转需要依赖于 PI 值，如果 PI 值精度偏低，也可能导致上述情况产生。惯性矩阵是否设置了，且设置是否正确合理。
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