教程 | 阿克曼结构移动机器人的gazebo仿真（三）

第三章、让小车动起来

1►配置controller

在tianracer_description功能包新建config文件夹时，我们可以通过一个yaml文件smart_control_config.yaml来声明我们所需要的controller，以及对应的参数，PID增益和 控制器设置必须保存在yaml文件中，再通过 launch文件加载到param服务器上：

tianracer:
# controls the rear two tires based on individual motors
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  rear_right_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: right_rear_wheel_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  rear_left_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: left_rear_wheel_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  front_right_steering_position_controller:
    type: effort_controllers/JointPositionController
    joint: right_steering_hinge_joint
    pid: {p: 4.0, i: 2.0, d: 1.0}    
  front_left_steering_position_controller:
    type: effort_controllers/JointPositionController
    joint: left_steering_hinge_joint
    pid: {p: 4.0, i: 2.0, d: 1.0}
   gazebo_ros_control:
    pid_gains:
      right_rear_wheel_joint:
        p: 100.0
        i: 0.5
        d: 0.0
      left_rear_wheel_joint:
        p: 100.0
        i: 0.5
        d: 0.0

2►配置launch文件

创建control.launch文件启动 ros_control controllers

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find tianracer_description)/config/smart_control_config.yaml" command="load"/>

  <!-- load controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
        output="screen" ns="/tianracer" args="joint_state_controller rear_right_velocity_controller rear_left_velocity_controller front_right_steering_position_controller front_left_steering_position_controller"/>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
      respawn="true" output="screen">
      <remap from="/joint_states" to="/tianracer/joint_states" />
  </node>

  <node name="cmdvel2gazebo" pkg="tianracer_description" type="cmdvel2gazebo.py" respawn="true" output="screen"/>

</launch>

接着创建一个可以将小车模型在gazebo中打开的launch文件tianracer.launch，并且能够加载上述control.launch文件

<?xml version="1.0" encoding="UTF-8"?>
<launch>
      <!-- 设置launch文件的参数 -->
    <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"/>
    <!--模型车的起点放置位置-->
    <arg name="x_pos" default="0"/>
    <arg name="y_pos" default="0"/>
    <arg name="z_pos" default="0"/>
    <arg name="R_pos" default="0"/>
    <arg name="P_pos" default