背景
由于我之前按照百度上博客教程给gazebo上的turtlebot配置rplidar的时候一直失败，后来发现是因为在ros-indigo和kinetic下的一些差异导致配置失败，于是又搜了一些教程成功配置了hokuyo的激光雷达，并且能够较完美地运行，感觉比较激动，所以想写个教程避免自己以后再次踩坑。
准备
安装好ros-turtlebot以及ros-turtlebot-apps，可以选择源码安装或者apt安装
增加hokuyo模块
( 如果是使用apt安装的apps，首先需要 sudo nautilus ，然后在/opt/ros/kinetic 下查找下列目录 )
- 在/turtlebot_description/meshes/sensors 下新建 "hokuyo.dae" 文件，代码如下：
View Code1 <?xml version="1.0" encoding="utf-8"?> 2 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> 3 <asset> 4 <contributor> 5 <author>Blender User</author> 6 <authoring_tool>Blender 2.64.0 r51232</authoring_tool> 7 </contributor> 8 <created>2013-03-22T08:19:53</created> 9 <modified>2013-03-22T08:19:53</modified> 10 <unit name="meter" meter="1"/> 11 <up_axis>Z_UP</up_axis> 12 </asset> 13 <library_cameras> 14 <camera id="Camera-camera" name="Camera"> 15 <optics> 16 <technique_common> 17 <perspective> 18 <xfov sid="xfov">49.13434</xfov> 19 <aspect_ratio>1.777778</aspect_ratio> 20 <znear sid="znear">0.1</znear> 21 <zfar sid="zfar">100</zfar> 22 </perspective> 23 </technique_common> 24 </optics> 25 </camera> 26 </library_cameras> 27 <library_lights> 28 <light id="Lamp-light" name="Lamp"> 29 <technique_common> 30 <point> 31 <color sid="color">1 1 1</color> 32 <constant_attenuation>1</constant_attenuation> 33 <linear_attenuation>0</linear_attenuation> 34 <quadratic_attenuation>0.00111109</quadratic_attenuation> 35 </point> 36 </technique_common> 37 <extra> 38 <technique profile="blender"> 39 <adapt_thresh>0.000999987</adapt_thresh> 40 <area_shape>0</area_shape> 41 <area_size>1</area_size> 42 <area_sizey>1</area_sizey> 43 <area_sizez>1</area_sizez> 44 <atm_distance_factor>1</atm_distance_factor> 45 <atm_extinction_factor>1</atm_extinction_factor> 46 <atm_turbidity>2</atm_turbidity> 47 <att1>0</att1> 48 <att2>1</att2> 49 <backscattered_light>1</backscattered_light> 50 <bias>1</bias> 51 <blue>1</blue> 52 <buffers>1</buffers> 53 <bufflag>0</bufflag> 54 <bufsize>2880</bufsize> 55 <buftype>2</buftype> 56 <clipend>30.002</clipend> 57 <clipsta>1.000799</clipsta> 58 <compressthresh>0.04999995</compressthresh> 59 <dist sid="blender_dist">29.99998</dist> 60 <energy sid="blender_energy">1</energy> 61 <falloff_type>2</falloff_type> 62 <filtertype>0</filtertype> 63 <flag>0</flag> 64 <gamma sid="blender_gamma">1</gamma> 65 <green>1</green> 66 <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> 67 <horizon_brightness>1</horizon_brightness> 68 <mode>8192</mode> 69 <ray_samp>1</ray_samp> 70 <ray_samp_method>1</ray_samp_method> 71 <ray_samp_type>0</ray_samp_type> 72 <ray_sampy>1</ray_sampy> 73 <ray_sampz>1</ray_sampz> 74 <red>1</red> 75 <samp>3</samp> 76 <shadhalostep>0</shadhalostep> 77 <shadow_b sid="blender_shadow_b">0</shadow_b> 78 <shadow_g sid="blender_shadow_g">0</shadow_g> 79 <shadow_r sid="blender_shadow_r">0</shadow_r> 80 <shadspotsize>45</shadspotsize> 81 <sky_colorspace>0</sky_colorspace> 82 <sky_exposure>1</sky_exposure> 83 <skyblendfac>1</skyblendfac> 84 <skyblendtype>1</skyblendtype> 85 <soft>3</soft> 86 <spotblend>0.15</spotblend> 87 <spotsize>75</spotsize> 88 <spread>1</spread> 89 <sun_brightness>1</sun_brightness> 90 <sun_effect_type>0</sun_effect_type> 91 <sun_intensity>1</sun_intensity> 92 <sun_size>1</sun_size> 93 <type>0</type> 94 </technique> 95 </extra> 96 </light> 97 </library_lights> 98 <library_images/> 99 <library_effects> 100 <effect id="black-effect"> 101 <profile_COMMON> 102 <technique sid="common"> 103 <phong> 104 <emission> 105 <color sid="emission">0 0 0 1</color> 106 </emission> 107 <ambient> 108 <color sid="ambient">0 0 0 1</color> 109 </ambient> 110 <diffuse> 111 <color sid="diffuse">0.020312 0.020312 0.020312 1</color> 112 </diffuse> 113 <specular> 114 <color sid="specular">0.25 0.25 0.25 1</color> 115 </specular> 116 <shininess> 117 <float sid="shininess">12</float> 118 </shininess> 119 <index_of_refraction> 120 <float sid="index_of_refraction">1</float> 121 </index_of_refraction> 122 </phong> 123 </technique> 124 <extra> 125 <technique profile="GOOGLEEARTH"> 126 <double_sided>1</double_sided> 127 </technique> 128 </extra> 129 </profile_COMMON> 130 <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra> 131 </effect> 132 <effect id="white_001-effect"> 133 <profile_COMMON> 134 <technique sid="common"> 135 <phong> 136 <emission> 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528 904 526 904 512 905 526 905 497 905 497 906 526 906 524 906 497 907 503 907 481 907 525 908 498 908 504 908 504 909 498 909 482 909 529 910 521 910 527 910 527 911 521 911 513 911 498 912 525 912 527 912 498 913 527 913 513 913 498 914 513 914 515 914 515 915 513 915 523 915 523 916 513 916 521 916 498 917 500 917 482 917 482 918 500 918 484 918 462 945 489 945 487 945 462 946 487 946 472 946 472 1062 463 1062 462 1062 463 1064 472 1064 464 1064 645 1104 450 1104 504 1104 504 1105 482 1105 645 1105 482 1106 467 1106 645 1106 467 1107 450 1107 645 1107 646 1108 452 1108 465 1108 489 1109 462 1109 646 1109 646 1110 506 1110 505 1110 646 1111 465 1111 474 1111 463 1112 464 1112 646 1112 447 1113 448 1113 646 1113 646 1114 492 1114 502 1114 646 1115 490 1115 492 1115 646 1116 502 1116 507 1116 646 1117 448 1117 452 1117 646 1118 507 1118 506 1118 446 1119 447 1119 646 1119 462 1120 463 1120 646 1120 501 1121 491 1121 646 1121 505 1122 501 1122 646 1122 451 1123 446 1123 646 1123 646 1124 480 1124 490 1124 646 1125 474 1125 480 1125 491 1126 489 1126 646 1126 464 1127 451 1127 646 1127</p> 210 </polylist> 211 </mesh> 212 <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra> 213 </geometry> 214 </library_geometries> 215 <library_visual_scenes> 216 <visual_scene id="Scene" name="Scene"> 217 <node id="Camera" name="Camera" type="NODE"> 218 <translate sid="location">7.481132 -6.50764 5.343665</translate> 219 <rotate sid="rotationZ">0 0 1 46.69194</rotate> 220 <rotate sid="rotationY">0 1 0 0.619768</rotate> 221 <rotate sid="rotationX">1 0 0 63.5593</rotate> 222 <scale sid="scale">1 1 1</scale> 223 <instance_camera url="#Camera-camera"/> 224 </node> 225 <node id="Lamp" name="Lamp" type="NODE"> 226 <translate sid="location">4.076245 1.005454 5.903862</translate> 227 <rotate sid="rotationZ">0 0 1 106.9363</rotate> 228 <rotate sid="rotationY">0 1 0 3.163707</rotate> 229 <rotate sid="rotationX">1 0 0 37.26105</rotate> 230 <scale sid="scale">1 1 1</scale> 231 <instance_light url="#Lamp-light"/> 232 </node> 233 <node id="Mesh_001" name="Mesh_001" type="NODE"> 234 <translate sid="location">0 0 0</translate> 235 <rotate sid="rotationZ">0 0 1 0</rotate> 236 <rotate sid="rotationY">0 1 0 0</rotate> 237 <rotate sid="rotationX">1 0 0 90.00001</rotate> 238 <scale sid="scale">1 1 1</scale> 239 <instance_geometry url="#Mesh-mesh"> 240 <bind_material> 241 <technique_common> 242 <instance_material symbol="black-material" target="#black-material"/> 243 <instance_material symbol="white_001-material" target="#white_001-material"/> 244 </technique_common> 245 </bind_material> 246 </instance_geometry> 247 </node> 248 </visual_scene> 249 </library_visual_scenes> 250 <scene> 251 <instance_visual_scene url="#Scene"/> 252 </scene> 253 </COLLADA>
- 在/turtlebot_description/robots 下新建 "kobuki_hexagons_hokuyo.urdf.xacro"， 代码如下：
View Code
1 <?xml version="1.0"?> 2 <!-- 3 - Base : kobuki 4 - Stacks : hexagons 5 - 3d Sensor : hokuyo 6 --> 7 <robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro"> 8 9 <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_common_library.urdf.xacro" /> 10 <xacro:include filename="$(find kobuki_description)/urdf/kobuki.urdf.xacro" /> 11 <xacro:include filename="$(find turtlebot_description)/urdf/stacks/hexagons.urdf.xacro"/> 12 <xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro" /> 13 14 <kobuki/> 15 <stack_hexagons parent="base_link" /> 16 <sensor_hokuyo parent="base_link" /> 17 </robot>
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在/turtlebot_description/urdf/sensors 下新建 "hokuyo.urdf.xacro"， 代码如下：
View Code1 <?xml version="1.0"?> 2 <!-- script_version=1.1 --> 3 <robot name="sensor_hokuyo" xmlns:xacro="http://ros.org/wiki/xacro"> 4 <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro" /> 5 <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro" /> 6 7 <!-- RPLidar 2D LIDAR --> 8 <xacro:macro name="sensor_hokuyo" params="parent"> 9 <joint name="laser" type="fixed"> 10 <origin xyz="0 0 0.22" rpy="0 0.0 0" /> 11 <parent link="base_link" /> 12 <child link="hokuyo_link" /> 13 </joint> 14 15 <!-- Hokuyo Laser --> 16 <link name="hokuyo_link"> 17 <collision> 18 <origin xyz="0 0 0" rpy="0 0 0" /> 19 <geometry> 20 <box size="0.1 0.1 0.1" /> 21 </geometry> 22 </collision> 23 24 <visual> 25 <origin xyz="0 0 0" rpy="0 0 0" /> 26 <geometry> 27 <mesh filename="package://turtlebot_description/meshes/sensors/hokuyo.dae" /> 28 </geometry> 29 </visual> 30 31 <inertial> 32 <mass value="1e-5" /> 33 <origin xyz="0 0 0" rpy="0 0 0" /> 34 <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> 35 </inertial> 36 </link> 37 38 <!-- Set up laser gazebo details --> 39 <turtlebot_sim_2dsensor/> 40 </xacro:macro> 41 </robot>
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在 "/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro" 中添加一行
View Code1 <xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro"/>
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在 “/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro” 中添加代码
View Code1 <xacro:macro name="turtlebot_sim_2dsensor"> 2 <gazebo reference="hokuyo_link"> 3 <sensor type="ray" name="head_hokuyo_sensor"> 4 <pose>0 0 0 0 0 0</pose> 5 <visualize>false</visualize> 6 <update_rate>40</update_rate> 7 <ray> 8 <scan> 9 <horizontal> 10 <samples>720</samples> 11 <resolution>1</resolution> 12 <min_angle>-${M_PI}</min_angle> 13 <max_angle>${M_PI}</max_angle> 14 </horizontal> 15 </scan> 16 <range> 17 <min>0.10</min> 18 <max>30.0</max> 19 <resolution>0.01</resolution> 20 </range> 21 <noise> 22 <type>gaussian</type> 23 24 <mean>0.0</mean> 25 <stddev>0.01</stddev> 26 </noise> 27 </ray> 28 <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so"> 29 <topicName>/turtlebot/laser/scan</topicName> 30 <frameName>hokuyo_link</frameName> 31 </plugin> 32 </sensor> 33 </gazebo> 34 </xacro:macro>
（说明： 因为周围几根柱子会挡住激光造成误差， 可以在"hexagons.urdf.xacro"中去掉， 或者自己写一个nostack 把stack换掉）
使用以下代码切换到hokuyo export TURTLEBOT_3D_SENSOR=hokuyo
然后运行gazebo就会发现把传感器换掉了
Update:
将turtlebot+hokuyo雷达的包上传至github：https://github.com/naiij/robot-gazebo
2015
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