机器人在gazebo中使用四轮差速仿真模型时，转向不明显？

在gazebo中仿真四轮差速模型

首先，直接查看以下的xacro四轮机器人描述文件。

<?xml version="1.0"?>
<robot name="robot_walleva" xmlns:xacro="http://www.ros.org/wiki/xacro">
	<material name="black">
		<color rgba="0 0 0 1" />
	</material>

	<material name="yellow">
		<color rgba="1 0.4 0 1" />
	</material>

	<material name="red">
		<color rgba="1 0 0 1" />
	</material>

    <xacro:property name="wheel_mass"   value="1"/>
    <xacro:property name="wheel_radius" value="0.06"/>
    <xacro:property name="wheel_length" value="0.08"/>
    <xacro:property name="M_PI" value="3.1415926"/>
    <xacro:property name="base_mass" value="5"/> 
    <xacro:property name="wheel_joint_x" value="0.22"/>
    <xacro:property name="wheel_joint_y" value="0.20"/>
    <xacro:property name="wheel_joint_z" value="0.00"/>
    <xacro:property name="base_a" value="0.44"/>
    <xacro:property name="base_b" value="0.36"/>
    <xacro:property name="base_h" value="0.12"/>
	
	<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 a b h">
	    <inertial>
			<mass value="${m}" />
			<!-- xacro has a terriable issue, it can't calculate h*h, but a*a -->
			<inertia ixx="${m*(b*b+0.16*0.16)/12}" ixy="0" ixz="0" 
				iyy="${m*(0.16*0.16+a*a)/12}" iyz="0" 
				izz="${m*(a*a+b*b)/12}" />
		</inertial>
    </xacro:macro>

	<xacro:macro name="wheel" params="prefix x_reflect y_reflect">
        <joint name="${prefix}_wheel_joint" type="continuous">
			<origin xyz="${x_reflect*wheel_joint_x} ${y_reflect*wheel_joint_y} ${-base_h/2}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${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="black" />
            </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/Black</material>
		    <mu1>10000000</mu1>
		    <mu2>10000000</mu2>
		    <kp>10000000</kp>
		    <kd>1</kd>
		</gazebo>

        <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>

    <xacro:macro name="robot_walleva_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_h/2+wheel_radius}" 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_a} ${base_b} ${base_h}"/>
                </geometry>
                <material name="yellow" />
            </visual>
            <collision>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="${base_a} ${base_b} ${base_h}"/>
                </geometry>
            </collision>   
            <box_inertial_matrix  m="${base_mass}" a="${base_a}" b="${base_b}" h="{base_h}" />
        </link>

		<gazebo reference="base_link">
            <material>Gazebo/Yellow</material>
        </gazebo>
        <wheel prefix="left_front"  x_reflect="1" y_reflect="1" />
        <wheel prefix="right_front" x_reflect="1" y_reflect="-1" />
        <wheel prefix="left_back"  x_reflect="-1" y_reflect="1" />
        <wheel prefix="right_back" x_reflect="-1" y_reflect="-1" />

        <!-- controller -->
        <gazebo>
            <plugin name="skid_steer_drive_controller" 
                    filename="libgazebo_ros_skid_steer_drive.so">
                <rosDebugLevel>Debug</rosDebugLevel>
                <publishWheelTF>true</publishWheelTF>
                <robotNamespace>/</robotNamespace>
                <publishTf>1</publishTf>
                <publishWheelJointState>true</publishWheelJointState>
                <updateRate>100.0</updateRate>
				<leftFrontJoint>left_front_wheel_joint</leftFrontJoint>
				<leftRearJoint>left_back_wheel_joint</leftRearJoint>
				<rightFrontJoint>right_front_wheel_joint</rightFrontJoint>
				<rightRearJoint>right_back_wheel_joint</rightRearJoint>
				<wheelSeparation>${2*wheel_joint_y}</wheelSeparation>
                <wheelDiameter>${2*wheel_radius}</wheelDiameter>
                <broadcastTF>1</broadcastTF>
				<torque>100</torque>
				<commandTopic>cmd_vel</commandTopic>
                <odometryFrame>odom</odometryFrame> 
                <odometryTopic>odom</odometryTopic> 
                <robotBaseFrame>base_footprint</robotBaseFrame>
            </plugin>
        </gazebo> 
    </xacro:macro>

    <xacro:include filename="$(find robot_model_simu)/urdf/sensors/hokuyo_gazebo.xacro" />
	<xacro:hokuyo_model prefix="hokuyo" />
	<joint name="hokuyo_joint" type="fixed">
		<origin xyz="0 0 ${base_h/2+0.025}" rpy="0 0 0" />
		<parent link="base_link" />
		<child link="hokuyo_link" />
	</joint>
	
	<xacro:include filename="$(find robot_model_simu)/urdf/sensors/camera_gazebo.xacro" />
	<xacro:usb_camera prefix="camera" />
	<joint name="camera_joint" type="fixed">
		<origin xyz="${base_a/2} 0 0" rpy="0 0 0" />
		<parent link="base_link" />
		<child link="camera_link" />
	</joint>

	<xacro:robot_walleva_base_gazebo />
</robot>

在gazebo中加载之后， 不难发现， 我们的机器人前后移动比较灵敏， 但是左右转向很不明显， 这是因为四轮在原地旋转的时候， 轮子会受到比较大的侧向阻力， 导致机器人的驱动力和地面摩擦系数不匹配，难以驱动，那么如何解决呢？

解决四轮差速在gazebo中转向不明显的问题

如下xacro描述文件：
添加轮子的摩擦系数以及刚性， 具有较大的摩擦系数，能更大程度地发挥轮子的驱动能力， 双轮差速模型除了前进的阻力，没有其他方向的阻力， 只要克服静摩擦力，便能够运动起来。

        <gazebo reference="${prefix}_wheel_link">
            <material>Gazebo/Black</material>
		    <mu1>10000000</mu1>
		    <mu2>10000000</mu2>
		    <kp>10000000</kp>
		    <kd>1</kd>
		</gazebo>

在gazebo运动控制插件中， 添加轮子的力矩， 加强轮子的驱动能力。

       <gazebo>
            <plugin name="skid_steer_drive_controller" 
                    filename="libgazebo_ros_skid_steer_drive.so">
                <rosDebugLevel>Debug</rosDebugLevel>
                <publishWheelTF>true</publishWheelTF>
                <robotNamespace>/</robotNamespace>
                <publishTf>1</publishTf>
                <publishWheelJointState>true</publishWheelJointState>
                <updateRate>100.0</updateRate>
				<leftFrontJoint>left_front_wheel_joint</leftFrontJoint>
				<leftRearJoint>left_back_wheel_joint</leftRearJoint>
				<rightFrontJoint>right_front_wheel_joint</rightFrontJoint>
				<rightRearJoint>right_back_wheel_joint</rightRearJoint>
				<wheelSeparation>${2*wheel_joint_y}</wheelSeparation>
                <wheelDiameter>${2*wheel_radius}</wheelDiameter>
                <broadcastTF>1</broadcastTF>
				<torque>100</torque>
				<commandTopic>cmd_vel</commandTopic>
                <odometryFrame>odom</odometryFrame> 
                <odometryTopic>odom</odometryTopic> 
                <robotBaseFrame>base_footprint</robotBaseFrame>
            </plugin>
        </gazebo>