ROS多机器人-gazebo仿真-问题总结及解决方法

最新推荐文章于 2024-06-23 09:41:52 发布

ほしづきよ507

最新推荐文章于 2024-06-23 09:41:52 发布

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本文链接：https://blog.csdn.net/qq_60781001/article/details/128655945

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近期进行多机器人编队控制仿真（gps、camera、laser），遇到些许问题，总结如下。

- 基于一个机器人URDF如何在gazebo中仿真显示多机器人——launch文件中使用group标签

<launch>
    <!-- 运行gazebo仿真环境 -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
    </include>
    <!-- begin robot1 -->
    <group ns="ares1">
        <param name="robot_description" command="$(find xacro)/xacro $(find urdf_gazebo)/xacro/my_car.urdf.xacro bodyframe:=ares1 ns:=ares1" /> 
        <!-- 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" />
            <param name="tf_prefix" value="ares1" />
        </node>
    <!-- node name="ares_teleop"       pkg="ares_teleop" type="ares_teleop.py"       output="screen" /-->
        <!-- 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 ares1 -param robot_description -x 0 -y 0"/>     
    </group>
    
    <!-- begin robot2 -->
    <group ns="ares2">
        <param name="robot_description" command="$(find xacro)/xacro $(find urdf_gazebo)/xacro/my_car.urdf.xacro bodyframe:=ares2 ns:=ares2" /> 
        <!-- 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" />
            <param name="tf_prefix" value="ares2" />
        </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 ares2 -param robot_description -x 0 -y 1"/> 
    </group>

    <!-- begin robot3 -->
    <group ns="ares3">
        <param name="robot_description" command="$(find xacro)/xacro $(find urdf_gazebo)/xacro/my_car.urdf.xacro bodyframe:=ares3 ns:=ares3" /> 
        <!-- 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" />
            <param name="tf_prefix" value="ares3" />
        </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 ares3 -param robot_description -x 0 -y -1"/> 
    </group>
</launch>

2、机器人如何单独控制、或共同控制运动——namespace、cmd_vel

差速机器人-左右轮xacro驱动配置

<robot name="my_car_move" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:macro name="joint_trans" params="joint_name">
        <transmission name="${joint_name}_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${joint_name}">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            </joint>
            <actuator name="${joint_name}_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>

    <xacro:joint_trans joint_name="left_wheel2base_link" />
    <xacro:joint_trans joint_name="right_wheel2base_link" />

    <gazebo>
        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <rosDebugLevel>Debug</rosDebugLevel>
            <publishWheelTF>true</publishWheelTF>
            <publishTf>1</publishTf>
            <publishWheelJointState>true</publishWheelJointState>
            <alwaysOn>true</alwaysOn>
            <updateRate>100.0</updateRate>
            <legacyMode>true</legacyMode>
            <leftJoint>left_wheel2base_link</leftJoint>
            <rightJoint>right_wheel2base_link</rightJoint> 
            <wheelSeparation>${base_link_radius * 2}</wheelSeparation> 
            <wheelDiameter>${wheel_radius * 2}</wheelDiameter> 
            <broadcastTF>1</broadcastTF>
            <wheelTorque>30</wheelTorque>
            <wheelAcceleration>1.8</wheelAcceleration>
            <commandTopic>cmd_vel</commandTopic> 
            <odometryFrame>odom</odometryFrame> 
            <odometryTopic>odom</odometryTopic> 
            <robotBaseFrame>$(arg bodyframe)/base_footprint</robotBaseFrame> 
            <!-- <robotBaseFrame>base_footprint</robotBaseFrame> -->
        </plugin>

        <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>50.0</updateRate>
            <bodyName>base_link</bodyName>
           <topicName>base_pose_ground_truth</topicName>
            <gaussianNoise>0.01</gaussianNoise>
            <frameName>world</frameName>
            <xyzOffsets>0 0 0</xyzOffsets>
           <rpyOffsets>0 0 0</rpyOffsets>
     </plugin>
    </gazebo>
</robot>

如何单独控制各个机器人：

即通过launch文件的group标签，给cmd_vel话题前加上命名空间。命名空间添加失败原因：

1> gazebo标签下的plugin标签里面，有<robotNamespace>/<robotNamespace>,该语句设置此配置中命名空间无法奏效，只需删除该语句；

2> <commandTopic>cmd_vel</commandTopic>设置中，话题cmd_vel前面有 '/'，导致该话题为全局话题，命名空间不起作用，若需单独控制机器人则需要删除该斜杠；若需同时控制多机器人，则保留话题为 /cmd_vel 。

xacro配置文件plugin标签中，若所有话题前面有”/“，则该话题为全局话题，命名空间不起作用，若需命名空间，则需删除”/“。

3、ROS-gazebo如何进行GPS仿真

首先，需下载一个功能包hector_gazebo_plugins。Hector _ gazebo _ plugins 提供了来自 Hector 团队的 gazebo 插件。目前，它包含一个6瓦差分驱动插件，一个 IMU 传感器插件，一个地球磁场传感器插件，一个 GPS 传感器插件和一个声纳测距插件。

介绍：http://wiki.ros.org/hector_gazebo_plugins

安装hector_gazebo_plugins：

sudo apt-get install ros-melodic-hector-gazebo-plugins

首先通过xacro文件描述出GPS的物理形状—my_gps.urdf.xacro文件

<robot name="sensor" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:property name="height1" value="0.05" />
  <xacro:property name="width" value="0.05" />
 <!-- Used for fixing robot to Gazebo 'base_link' -->
  <joint name="fixed" type="fixed">
    <parent link="laser"/>
    <child link="sensor"/>
    <origin xyz="0 0 ${height1 / 2}" />
  </joint>
 <!-- Base Link -->
  <link name="sensor">
    <collision>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <geometry>
        <box size="${width} ${width} ${height1}"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
      <geometry>
        <box size="${width} ${width} ${height1}"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <inertial>
      <origin xyz="0 0 1" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="0.0" ixz="0.0"
        iyy="1.0" iyz="0.0"
        izz="1.0"/>
    </inertial>
  </link>
  <material name="orange">
    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
  </material>
 <gazebo reference="sensor">
    <material>Gazebo/Orange</material>
  </gazebo>
</robot>

然后进行gps功能配置：

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

  <xacro:include filename="$(find urdf_gazebo)/xacro/my_gps.urdf.xacro"/>

        <gazebo>
            <plugin name="gazebo_ros_gps" filename="libhector_gazebo_ros_gps.so">
                <updateRate>4.0</updateRate>
                <bodyName>sensor</bodyName>
                <frameId>sensor</frameId>
                <topicName>gps/fix</topicName>
                <velocityTopicName>gps/fix_velocity</velocityTopicName>
                <referenceLatitude>-30.06022459407145675</referenceLatitude>
                <referenceLongitude>-51.173913575780311191</referenceLongitude>
                <referenceHeading>90</referenceHeading>
                <referenceAltitude>10</referenceAltitude>
                <offset>0 0 0</offset>
                <drift>0.001 0.001 0.001</drift>
                <gaussianNoise>0.05 0.05 0.05</gaussianNoise>
                <velocityDrift>0.001 0.001 0.001</velocityDrift>
                <velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
            </plugin>
        </gazebo>

其中，在该gps功能配置的xacro文件中，必须通过 <xacro:include filename="$(find urdf_gazebo)/xacro/my_gps.urdf.xacro"/> ,导入gps的物体描述xacro文件；即gps的物体描述代码与功能配置代码，需连接在一起。原因：如果是传感器的功能配置plugin标签，则必须在gazebo标签内的sensor标签下，否则不起作用。而该gps的配置gazebo标签内没有sensor标签，若想plugin标签起作用，就得紧接在物体描述代码后，而不能分成两个单独得文件。

同时，若想命名空间起作用，就需主要话题前面的”/“。

<frameId>sensor</frameId>中，frameId为GPS基于哪个ID发布的坐标，其中sensor为描述的GPS名称。

（个人见解，不是很深刻）

4、Laser仿真

雷达仿真注意事项也如上：

雷达（单线）物体描述的xacro文件：

<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>

功能配置xacro文件（满足命名空间）

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
  <gazebo reference="laser">
    <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>30.0</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</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>

小车集成xaro文件：

<robot name="my_car_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="my_head.xacro" />
    <xacro:include filename="my_base.urdf.xacro" />
    <xacro:include filename="my_camera.urdf.xacro" />
    <xacro:include filename="my_laser.urdf.xacro" />
    <!-- show gps -->
    <!-- <xacro:include filename="my_gps.urdf.xacro" /> -->
    <xacro:include filename="ros_control/gps.xacro" />
    <xacro:include filename="ros_control/move.xacro" />
    <xacro:include filename="ros_control/laser.xacro" />
    <xacro:include filename="ros_control/camera.xacro" />
    <xacro:include filename="ros_control/kinect.xacro" />
</robot>

最后小车集成图片：