Ros学习——创建smartcar模型

参考http://www.guyuehome.com/243

1、创建一个工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make

2、创建一个smartcar_description包

roscreate-pkg smartcar_description urdf

urdf 是依赖项，roscreate-pkg 可以用catkin_create_pkg替代，参见http://wiki.ros.org/ROS/Tutorials/CreatingPackage

3、添加描述文件smartcar.urdf

cd smartcar_description
mkdir urdf
gedit urdf/smartcar.urdf

在弹出的文本里添加以下代码

<?xml version="1.0"?>  
<robot name="smartcar">  
  <link name="base_link">  
    <visual>  
      <geometry>  
        <box size="0.25 .16 .05"/>  
    </geometry>  
    <origin rpy="0 0 1.57075" xyz="0 0 0"/>  
    <material name="blue">  
        <color rgba="0 0 .8 1"/>  
    </material>  
    </visual>  
</link>  
 
<link name="right_front_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  
 
  <joint name="right_front_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="right_front_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="0.08 0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  
 
  <link name="right_back_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  
 
  <joint name="right_back_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="right_back_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="0.08 -0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
</joint>  
 
<link name="left_front_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  
 
  <joint name="left_front_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="left_front_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="-0.08 0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  
 
  <link name="left_back_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  
 
  <joint name="left_back_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="left_back_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="-0.08 -0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  
 
  <link name="head">  
    <visual>  
      <geometry>  
        <box size=".02 .03 .03"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  
 
  <joint name="tobox" type="fixed">  
    <parent link="base_link"/>  
    <child link="head"/>  
    <origin xyz="0 0.08 0.025"/>  
  </joint>  
</robot>

4、添加启动文件base.urdf.rviz.launch

同上，在smartcar_description文件夹里添加launch文件夹，并添加base.urdf.rviz.launch文件，在弹出的文本里添加以下代码

<launch>     
    <arg name="model" />      
    <arg name="gui" default="False" />     
    <param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" />      
    <param name="use_gui" value="$(arg gui)"/>     
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    </node>      
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />      
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />  
</launch>

可能会报错：

ERROR: the config file '/opt/ros/kinetic/share/urdf_tutorial/urdf.vcg' is a .vcg file, which is the old rviz config format.
       New config files have a .rviz extension and use YAML formatting.  The format changed

原因：

rviz版本更新后，配置文件的后缀变成了.rviz。所以这里将launch文件里将 末尾的urdf.vcg改成urdf.rviz，问题解决～

5、运行测试

在终端里输入

source ~/catkin_ws/devel/setup.bash
roslaunch smartcar_description base.urdf.rviz.launch gui:=ture

然后出现这样的窗口

点有下角的“Add” 选择RobotModel，然后在GlobalOptions里的FixedFrame选择head，一款蓝色小车就出现了～