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~