ROS 使用xacro文件创建机器人模型

具体功能包见：https://github.com/suyunzzz/ROS_homework.git

所需文件：

1）launch文件，如下

<launch>
    <!--view_wheel_chair_with_laser_gazebo.launch-->
    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find mbot_gazebo)/worlds/playground.world"/>
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find wheel_chair_description)/urdf/gazebo/wheel_chair_with_laser_gazebo.xacro'" /> 

    <!-- 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" />
    </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 mrobot -param robot_description"/> 

</launch>

2)根据launch文件，我们还需要一个机器人描述文件wheel_chair_with_laser_gazebo.xacro，如下，这个文件的主要功能是搭建一个框架，留出接口，可以方便使用人员快速利用已有的资源（比如传感器仿真文件等），进行开发，只需要在该文件中include并且设置好位置以及坐标系名称即可。此文件中的

    <child link="laser_link"/>
    </joint>

    <xacro:rplidar prefix="laser"/>

都必须是laser,具体愿意目前不清楚。

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find wheel_chair_description)/urdf/gazebo/wheel_chair_base_gazebo.xacro" />
    <xacro:include filename="$(find wheel_chair_description)/urdf/sensors/lidar_gazebo.xacro" />

    <xacro:property name="lidar_offset_x" value="0" />
    <xacro:property name="lidar_offset_y" value="0" />
    <xacro:property name="lidar_offset_z" value="${0.5*base_thickness+0.03}" />

    <wheel_chair_base/>

    <!-- lidar -->
    <joint name="lidar_joint" type="fixed">
        <origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
        <parent link="base_link"/>
        <child link="laser_link"/>
    </joint>

    <xacro:rplidar prefix="laser"/>


    
   
    <!--important!!! wheel_chair is your just now xacro file name-->
    <wheel_chair_base_gazebo/>

</robot>

3）根据wheel_chair_with_laser_gazebo.xacro文件我们还需要两个文件，1>wheel_chair_base_gazebo.xacro，该文件是wheel_chair的描述文件，内容如下。

<?xml version="1.0"?>
<robot name="wheel_chair" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- PROPERTY LIST -->

    <xacro:property name="wheel_mass"   value="4" />
    <xacro:property name="caster_mass"    value="1" /> 
    <xacro:property name="base_mass"   value="50" />

    <xacro:property name="M_PI" value="3.1415926"/>
    <xacro:property name="base_length" value="0.50"/>
    <xacro:property name="base_width" value="0.38"/>
    <xacro:property name="base_thickness" value="0.3"/>

    <xacro:property name="wheel_radius" value="0.04"/>
    <xacro:property name="wheel_length" value="0.04"/>

    <xacro:property name="wheel_joint_x" value="0.17"/>
    <xacro:property name="wheel_joint_y" value="0.15"/>
    <xacro:property name="wheel_joint_z" value="0.15"/>

    <xacro:property name="caster_radius" value="0.04"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
    <xacro:property name="caster_joint_x" value="0.17"/>
    <xacro:property name="caster_joint_y" value="0.15"/>

    <!-- Defining the colors used in this robot -->
    <material name="yellow">
        <color rgba="1 0.4 0 1"/>
    </material>
    <material name="black">
        <color rgba="0 0 0 0.95"/>
    </material>
    <material name="gray">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>


    <!-- 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 h w d">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(h*h+d*d)/12}" ixy="0.0" ixz="0.0"
                iyy="${m*(w*w+d*d)/12}" iyz="0.0"
                izz="${m*(h*h+w*w)/12}" />
        </inertial>
    </xacro:macro>

    <!-- Macro for robot wheel -->
    <xacro:macro name="wheel" params="prefix reflect">
        <joint name="${prefix}_wheel_joint" type="continuous">
            <origin xyz="${-wheel_joint_x} ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix}_wheel_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix}_wheel_link">
            <visual>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                </geometry>
                <material name="gray" />
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                </geometry>
            </collision>
            <cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
        </link>

        <gazebo reference="${prefix}_wheel_link">
            <material>Gazebo/Gray</material>
        </gazebo>
 


        <!-- Transmission is important to link the joints and the controller -->
        <transmission name="${prefix}_wheel_joint_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${prefix}_wheel_joint" >
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            </joint>
            <actuator name="${prefix}_wheel_joint_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>


    <!-- Macro for robot caster -->
    <xacro:macro name="caster" params="prefix reflect">
        <joint name="${prefix}_caster_joint" type="continuous">
            <origin xyz="${caster_joint_x} ${reflect*caster_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix}_caster_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix}_caster_link">
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                    <sphere radius="${caster_radius}" />
                </geometry>
                <material name="black" />
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                    <sphere radius="${caster_radius}" />
                </geometry>
            </collision>      
            <sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" />
        </link>

        <gazebo reference="${prefix}_caster_link">
            <material>Gazebo/Black</material>
        </gazebo>
    </xacro:macro>

    <xacro:macro name="wheel_chair_base_gazebo">
        <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>

        <gazebo reference="base_footprint">
            <turnGravityOff>false</turnGravityOff>
        </gazebo>

        <joint name="base_footprint_joint" type="fixed">
            <origin xyz="0 0 ${base_thickness/2 + caster_radius*2}" rpy="0 0 0" />        
            <parent link="base_footprint"/>
            <child link="base_link" />
        </joint>

        <link name="base_link">
            <visual>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="${base_length} ${base_width} ${base_thickness}" />
                </geometry>
                <material name="yellow" />
            </visual>
            <collision>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="${base_length} ${base_width} ${base_thickness}" />
                </geometry>
            </collision>   
            <box_inertial_matrix  m="${base_mass}" h="${base_thickness}" w="${base_length}" d="${base_width}" />
        </link>

        <gazebo reference="base_link">
            <material>Gazebo/Blue</material>
        </gazebo>

        <!--wheel's prefix have 2 values -->
        <wheel prefix="left" reflect="-1"/>
        <wheel prefix="right" reflect="1"/>

        <!--caster's prefix have 2 values -->
        <caster prefix="left" reflect="-1"/>
        <caster prefix="right" reflect="1"/>

        <!-- controller -->
        <gazebo>
            <plugin name="differential_drive_controller" 
                    filename="libgazebo_ros_diff_drive.so">
                <rosDebugLevel>Debug</rosDebugLevel>
                <publishWheelTF>true</publishWheelTF>

                <publishOdomTF>true</publishOdomTF>

                <robotNamespace>/</robotNamespace>
                <publishTf>1</publishTf>
                <publishWheelJointState>true</publishWheelJointState>
                <alwaysOn>true</alwaysOn>
                <updateRate>100.0</updateRate>
                <legacyMode>true</legacyMode>
                <leftJoint>left_wheel_joint</leftJoint>
                <rightJoint>right_wheel_joint</rightJoint>
                <wheelSeparation>${wheel_joint_y*2}</wheelSeparation>
                <wheelDiameter>${2*wheel_radius}</wheelDiameter>
                <broadcastTF>1</broadcastTF>
                <wheelTorque>30</wheelTorque>
                <wheelAcceleration>1.8</wheelAcceleration>
                <commandTopic>cmd_vel</commandTopic>
                <odometryFrame>odom</odometryFrame> 
                <odometryTopic>odom</odometryTopic> 
                <robotBaseFrame>base_footprint</robotBaseFrame>
            </plugin>
        </gazebo> 
    </xacro:macro>

</robot>

2>sensors/lidar_gazebo.xacro，该文件是lidar传感器的描述文件。

同上文中的总的include其余两个文件的大文件，此文件中的

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

 必须是laser，具体原因目前不清楚。关于这个问题，我试过将上文中的三个地方laser全部换为lidar，但是这样的话在rviz中添加laser_scan的时候会有错误，使用rostopic echo /scan倒是可以打印出/scan话题上的消息。

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="laser">

    <xacro:macro name="rplidar" params="prefix:=laser">
        <!-- Create laser reference frame -->
        <link name="${prefix}_link">
            <inertial>
                <mass value="0.1" />
                <origin xyz="0 0 0" />
                <inertia ixx="0.01" ixy="0.0" ixz="0.0"
                         iyy="0.01" iyz="0.0"
                         izz="0.01" />
            </inertial>

            <visual>
                <origin xyz=" 0 0 0 " rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.05" radius="0.05"/>
                </geometry>
                <material name="black"/>
            </visual>

            <collision>
                <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.06" radius="0.05"/>
                </geometry>
            </collision>
        </link>
        <gazebo reference="${prefix}_link">
            <material>Gazebo/Black</material>
        </gazebo>

        <gazebo reference="${prefix}_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>laser_link</frameName>
                </plugin>
            </sensor>
        </gazebo>

    </xacro:macro>
</robot>

至此，就可以使用roslaunch在rviz启动该模型了，新开一个终端，使用rviz启动Rviz，在其中添加机器人模型，以及laser_scan并订阅话题/scan就可以看到扫描到的雷达信息了。