零.原理
原理就是一个普通的小车，配合上Gazebo plugins实现Gazebo里的信息采集。
对了我目前打算的是个后驱车，如果要四驱的，可以自己给前轮的Joint加两个velocity_controllers即可。
一.造车
1.1 写一个车
先在src/slam_model/urdf/ackman.urdf写一个车：
<robot name="ackman">
<!--Main Body Begin-->
<link name="base_footprint">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.2"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="300"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.8 0.4 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue">
<color rgba="0.5 0.2 0.8 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.8 0.4 0.1"/>
</geometry>
<inertial>
<mass value="300"/>
<inertia ixx="0.0053" ixy="0" ixz="0" iyy="0.0083" iyz="0" izz="0.0667"/>
</inertial>
</collision>
</link>
<link name="base_wheel">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue">
<color rgba="0.5 0.2 0.8 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<inertial>
<mass value="0.1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</collision>
</link>
<joint name="base_wheel_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<parent link="base_link"/>
<child link="base_wheel"/>
</joint>
<joint name="left_rear_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="base_wheel"/>
<child link="left_rear_wheel"/>
<origin rpy="1.57 0 0" xyz="-0.3 0.3 0"/>
<limit effort="10" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="base_wheel"/>
<child link="right_rear_wheel"/>
<origin rpy="1.57 0 0" xyz="-0.3 -0.3 0"/>
<limit effort="10" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="right_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
</collision>
</link>
<joint name="left_bridge_joint" type="revolute">
<parent link="base_wheel"/>
<child link="left_bridge"/>
<origin rpy="0 0 0" xyz="0.3 0.255 0"/> <!--Y=0.25-0.5*whell_length-0.5*brige_y-->
<axis xyz="0 0 1"/>
<limit effort="2.5" lower="-0.758" upper="0.758" velocity="1"/>
</joint>
<link name="left_bridge">
<inertial>
<origin xyz="0.0 0 0"/>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<inertial>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="left_bridge"/>
<child link="left_front_wheel"/>
<origin rpy="1.57 0 0" xyz="0 0.045 0"/> <!--Z=0.5*whell_length+0.5*brige_y-->
</joint>
<link name="left_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<!--right bridge and wheel are mirrored from left-->
<joint name="right_bridge_joint" type="revolute">
<parent link="base_wheel"/>
<child link="right_bridge"/>
<origin rpy="0 0 0" xyz="0.3 -0.255 0"/> <!--Y=0.25-0.5*whell_length-0.5*brige_y-->
<axis xyz="0 0 1"/>
<limit effort="2.5" lower="-0.758" upper="0.758" velocity="1"/>
</joint>
<link name="right_bridge">
<inertial>
<origin xyz="0.0 0 0"/>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<inertial>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="right_bridge"/>
<child link="right_front_wheel"/>
<origin rpy="1.57 0 0" xyz="0 -0.045 0"/> <!--Z=0.5*whell_length+0.5*brige_y-->
</joint>
<link name="right_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
<cylinder radius="0.1" length="0.05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="left_rear_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="right_rear_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="left_front_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="right_front_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="left_bridge">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="right_bridge">
<material>Gazebo/Red</material>
</gazebo>
<!--Main Body End-->
<!--car's movement controllers begin-->
<transmission name="right_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_rear_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="right_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_rear_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="left_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- dont add these controller into urdf, or you will find a funny movement -->
<!-- car's front wheel will keep 0m/s because of the controller
<transmission name="right_front_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_front_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="right_front_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
-->
<transmission name="right_bridge">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_bridge_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_bridge_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_bridge">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_bridge_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_bridge_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<robotNamespace>/ackman</robotNamespace>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<!--car's movement controllers end -->
</robot>
1.2 写配置
ros_ws/src/slam_model/config/ackman_control.yaml里写入：
ackman:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
left_bridge_position_controller:
type: position_controllers/JointPositionController
joint: left_bridge_joint
pid: { p: 20, d: 5.0}
right_bridge_position_controller:
type: position_controllers/JointPositionController
joint: right_bridge_joint
pid: { p: 20, d: 5.0}
left_wheel_velocity_controller:
type: velocity_controllers/JointVelocityController
joint: left_rear_wheel_joint
pid: { p: 100, i: 0.1, d: 10.0}
right_wheel_velocity_controller:
type: velocity_controllers/JointVelocityController
joint: right_rear_wheel_joint
pid: { p: 30, i: 0.1, d: 10.0}
1.3 编写启动文件
这次启动文件改了改，下次直接改俩参数就可以用：
<launch>
<arg name="model_name" value="ackman"/>
<arg name="model_ns" value="ackman"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch"></include>
<param name="robot_description" textfile="$(find slam_model)/urdf/$(arg model_name).urdf" />
<param name="use_gui" value="true"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg model_ns)/joint_states" />
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find slam_model)/urdf/$(arg model_name).rviz" required="true"></node>
<node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-file $(find slam_model)/urdf/$(arg model_name).urdf -urdf -model $(find slam_model)" output="screen"/>
<rosparam file="$(find slam_model)/config/$(arg model_name)_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/$(arg model_ns)" args="joint_state_controller right_wheel_velocity_controller left_wheel_velocity_controller right_bridge_position_controller left_bridge_position_controller"/>
</launch>
1.4 编写控制节点
创建一个包：catkin_create_pkg slam_keyboard_move roscpp std_msgs message_generation message_runtime
然后写入一个简单点儿的节点，如果你想要松耦合的话，自己把参数加到argv里，然后在launch里加参数：
#include "ros/ros.h"
#include "std_msgs/Float64.h"
#include "iostream"
using namespace std;
int main(int argc, char **argv)
{
ros::init(argc, argv, "cin_control");
ros::NodeHandle h;
std_msgs::Float64 left_pos, right_pos, left_vel, right_vel;
float a,b,c,d;
ros::Publisher left_pos_pub = h.advertise<std_msgs::Float64>("/ackman/left_bridge_position_controller/command", 10);
ros::Publisher right_pos_pub = h.advertise<std_msgs::Float64>("/ackman/right_bridge_position_controller/command", 10);
ros::Publisher left_vel_pub = h.advertise<std_msgs::Float64>("/ackman/left_wheel_velocity_controller/command", 10);
ros::Publisher right_vel_pub = h.advertise<std_msgs::Float64>("/ackman/right_wheel_velocity_controller/command", 10);
ros::Rate loop_rate(1);
while (ros::ok())
{
cout << "please input ackman's info like left_pos right_pos left_vel right_vel" << endl;
cin >> left_pos.data >> right_pos.data >> left_vel.data >> right_vel.data;
left_pos_pub.publish(left_pos);
right_pos_pub.publish(right_pos);
left_vel_pub.publish(left_vel);
right_vel_pub.publish(right_vel);
ROS_INFO("ackman's vel msg send!");
}
return 0;
}
修改配置，运行：
注意：如果给前轮加上了速度控制器，那么前轮会锁定为0m/s，那么前轮就不是从动轮了。但是如果不加的话，前轮和前转轴的关系节点又不会发送到rviz里，所以感觉怪怪的。不过Gazebo里可以就行了，rviz里只用来看数据，所以不重要
二.升级车
使用Gazebo plugins为车创建Lidar、IMU、Camera。文档地址：http://gazebosim.org/tutorials?tut=ros_gzplugins
2.1 添加雷达
向urdf里添加这些东西:
<!--Lidar begin-->
<joint name="lidar_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<parent link="base_link"/>
<child link="hokuyo_lidar"/>
</joint>
<link name="hokuyo_lidar">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.05" length="0.1"/>
</geometry>
<material name="yellow">
<color rgba="0.5 1 0 1"/>
</material>
</visual>
</link>
<gazebo reference="hokuyo_lidar">
<sensor type="gpu_ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>60</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>/ackman/laser/scan</topicName>
<frameName>hokuyo_lidar</frameName>
</plugin>
</sensor>
<material>Gazebo/Yellow</material>
</gazebo>
<!--Lidar End-->
这些参数看一眼就懂，不懂的去官网看，我们唯一要修改的是：<topicName>/ackman/laser/scan</topicName>，这是你激光数据的话题信息。
然后用launch启动环境，在rviz里添加LaserScan和配置激光话题信息
2.2 Camera
在urdf里添加:
<!--Camera Begin-->
<link name="camera_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.05 0.03"/>
</geometry>
<material name="green">
<color rgba="0 1 1 0.8"/>
</material>
</visual>
</link>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.395 0 0.065"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<gazebo reference="camera_link">
<sensor type="camera" name="camera1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>ackman/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
<material>Gazebo/Green</material>
</gazebo>
<!--Camera End-->
含义不多说，你的raw格式的相机话题是：<cameraName>ackman/camera1</cameraName> + <imageTopicName>image_raw</imageTopicName> 即：/ackman/camera1/image_raw
2.3 IMU
老样子，写：
<!--IMU Begin-->
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.06 0.02"/>
</geometry>
<material name="oriange">
<color rgba="1 0.7 0 0.8"/>
</material>
</visual>
</link>
<joint name="imu_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.2 0 0.06"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
<gravity>false</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>6o</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>10.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
<material>Gazebo/Oriange</material>
</gazebo>
<!--IMU End-->
看：
三.整个urdf的代码
<?xml version="1.0" ?>
<robot name="ackman">
<!--Main Body Begin-->
<link name="base_footprint">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.2"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="300"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.8 0.4 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue">
<color rgba="0.5 0.2 0.8 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.8 0.4 0.1"/>
</geometry>
<inertial>
<mass value="300"/>
<inertia ixx="0.0053" ixy="0" ixz="0" iyy="0.0083" iyz="0" izz="0.0667"/>
</inertial>
</collision>
</link>
<link name="base_wheel">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue">
<color rgba="0.5 0.2 0.8 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<inertial>
<mass value="0.1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</collision>
</link>
<joint name="base_wheel_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<parent link="base_link"/>
<child link="base_wheel"/>
</joint>
<joint name="left_rear_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="base_wheel"/>
<child link="left_rear_wheel"/>
<origin rpy="1.57 0 0" xyz="-0.3 0.3 0"/>
<limit effort="10" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="base_wheel"/>
<child link="right_rear_wheel"/>
<origin rpy="1.57 0 0" xyz="-0.3 -0.3 0"/>
<limit effort="10" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="right_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-0.05" ixy="0.0" ixz="0.0" iyy="-0.05" iyz="0.0" izz="-0.05"/>
</inertial>
</collision>
</link>
<joint name="left_bridge_joint" type="revolute">
<parent link="base_wheel"/>
<child link="left_bridge"/>
<origin rpy="0 0 0" xyz="0.3 0.255 0"/> <!--Y=0.25-0.5*whell_length-0.5*brige_y-->
<axis xyz="0 0 1"/>
<limit effort="2.5" lower="-0.758" upper="0.758" velocity="1"/>
</joint>
<link name="left_bridge">
<inertial>
<origin xyz="0.0 0 0"/>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<inertial>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="left_bridge"/>
<child link="left_front_wheel"/>
<origin rpy="1.57 0 0" xyz="0 0.045 0"/> <!--Z=0.5*whell_length+0.5*brige_y-->
</joint>
<link name="left_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<!--right bridge and wheel are mirrored from left-->
<joint name="right_bridge_joint" type="revolute">
<parent link="base_wheel"/>
<child link="right_bridge"/>
<origin rpy="0 0 0" xyz="0.3 -0.255 0"/> <!--Y=0.25-0.5*whell_length-0.5*brige_y-->
<axis xyz="0 0 1"/>
<limit effort="2.5" lower="-0.758" upper="0.758" velocity="1"/>
</joint>
<link name="right_bridge">
<inertial>
<origin xyz="0.0 0 0"/>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.06 0.04 0.01"/>
</geometry>
<inertial>
<mass value="0.1"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="right_bridge"/>
<child link="right_front_wheel"/>
<origin rpy="1.57 0 0" xyz="0 -0.045 0"/> <!--Z=0.5*whell_length+0.5*brige_y-->
</joint>
<link name="right_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
<cylinder radius="0.1" length="0.05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<inertial>
<mass value="10"/>
<inertia ixx="-1.0" ixy="0.0" ixz="0.0" iyy="-1.0" iyz="0.0" izz="-1.0"/>
</inertial>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="left_rear_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="right_rear_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="left_front_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="right_front_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="left_bridge">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="right_bridge">
<material>Gazebo/Red</material>
</gazebo>
<!--Main Body End-->
<!--car's movement controllers begin-->
<transmission name="right_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_rear_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="right_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_rear_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="left_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- dont add these controller into urdf, or you will find a funny movement -->
<!-- car's front wheel will keep 0m/s because of the controller
<transmission name="right_front_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_front_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="right_front_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
-->
<transmission name="right_bridge">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_bridge_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_bridge_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_bridge">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_bridge_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_bridge_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<robotNamespace>/ackman</robotNamespace>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<!--car's movement controllers end -->
<!--Lidar begin-->
<joint name="lidar_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<parent link="base_link"/>
<child link="hokuyo_lidar"/>
</joint>
<link name="hokuyo_lidar">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.05" length="0.1"/>
</geometry>
<material name="yellow">
<color rgba="0.5 1 0 1"/>
</material>
</visual>
</link>
<gazebo reference="hokuyo_lidar">
<sensor type="gpu_ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>60</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>/ackman/laser/scan</topicName>
<frameName>hokuyo_lidar</frameName>
</plugin>
</sensor>
<material>Gazebo/Yellow</material>
</gazebo>
<!--Lidar End-->
<!--Camera Begin-->
<link name="camera_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.05 0.03"/>
</geometry>
<material name="green">
<color rgba="0 1 1 0.8"/>
</material>
</visual>
</link>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.395 0 0.065"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<gazebo reference="camera_link">
<sensor type="camera" name="camera1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>ackman/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
<material>Gazebo/Green</material>
</gazebo>
<!--Camera End-->
<!--IMU Begin-->
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.06 0.02"/>
</geometry>
<material name="oriange">
<color rgba="1 0.7 0 0.8"/>
</material>
</visual>
</link>
<joint name="imu_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.2 0 0.06"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
<gravity>false</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>6o</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>10.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
<material>Gazebo/Oriange</material>
</gazebo>
<!--IMU End-->
</robot>
四.后记
虽然完成了，但是还是没有搞清楚一些力学限制。给定一个初速度后，会给轮胎一个较大的加速度，那么这个时候，质量、力限制、速度限制、转动惯量可能都对这个有影响。最开始的模型启动是会直接翻车的。但是通过改大质量、改小effort就能稳定，但总感觉不定性的去改他们总感觉怪怪的。
扫一扫
1万+
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
