教程 | 阿克曼结构移动机器人的gazebo仿真（二）

第二章、配置xacro文件

0.前言

上一节已经将urdf导出来了，这一节需要配置一下xacro文件。先看一下导出的功能包在gazebo以及rviz中显示的效果。

将功能包放进工作空间进行编译，source一下环境，先看gazebo:

roslaunch tianracer_description gazebo.launch

可以看到模型已经加载到gazebo中的empty_world中了，此时模型还是白板，稍后可对颜色进行配置。

再看rviz,先修改tianracer_description/launch中的 arg name="gui" default="False"改为arg name="gui" default="True"

roslaunch tianracer_description display.launch

此时左侧会出现joint_state_publisher的可视化窗口，拖动上边的动态条即可控制小车的每个关节。

1.添加传动装置

新建tianracer_description.xacro文件，将urdf文件中的代码复制过来，并对其进行修改。

<?xml version="1.0" encoding="utf-8"?>
<robot name="tianracer"  xmlns:xacro="http://ros.org/wiki/xacro">


<link name="base_link">
</link>
<link name="chassis">
    <inertial>
      <origin
        xyz="0.0623235722457065 0.0014584636628485 0.0350371599032402"
        rpy="0 0 0" />
      <mass
        value="5" />
     <inertia ixx="0.010609" ixy="0"          ixz="0"
                          iyy="0.050409"   iyz="0"
                                           izz="0.05865" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://tianracer_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://tianracer_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="base_link_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0" />        
        <parent link="base_link"/>
        <child link="chassis" />
    </joint> 
 <link
    name="left_steering_hinge">
    <inertial>
      <origin
        xyz="0.00160901052986848 0.00421500740928921 0.000999991873067492"
        rpy="0 0 0" />
      <mass
        value="0.34" />
      <inertia
        ixx="4E-06"
        ixy="0"
        ixz="0"
        iyy="4E-06"
        iyz="0"
        izz="4E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://tianracer_description/meshes/left_steering_hinge.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://tianracer_description/meshes/left_steering_hinge.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_steering_hinge_joint"
    type="revolute">
    <origin
      xyz="0.1237 0.070647 0.0235"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_steering_hinge" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.6"
      upper="0.6"
      effort="10"
      velocity="1000" />
  </joint>

  <link
    name="left_front_wheel">
    <inertial>
      <origin
        xyz="-1.16652756898539E-10 0.000722301233977055 -0.000982991824011559"
        rpy="0 0 0" />
      <mass
        value="0.7" />
     <inertia ixx="0.00026046" ixy="0"          ixz="0"
                            iyy="0.00026046" iyz="0"
                                             izz="0.00041226" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://tianracer_description/meshes/left_front_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://tianracer_description/meshes/left_front_wheel.STL" />
      </geometry>
    </collision>
  </link>
 <joint
    name="left_front_wheel_joint"
    type="continuous">
    <origin
      xyz="0 0.015649 0"
      rpy="0 0 0" />
    <parent
      link="left_steering_hinge" />
    <child
      link="left_front_wheel" />
    <ax