ROS笔记之Gazebo插件

在Gazebo仿真中常需要在URDF文件中添加相关标签来来仿真机器人的传感器、执行器的特性。现将常用插件总结如下（使用时根据自己情况对参数进行修改）：

 

1.运动控制

1.1.差速驱动插件

<gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>${update_rate}</updateRate>
    <leftJoint>${base_link_right_wheel_joint}</leftJoint>
    <rightJoint>${base_link_left_wheel_joint}</rightJoint>
    <wheelSeparation>0.100</wheelSeparation>
    <wheelDiameter>0.040</wheelDiameter>
    <torque>20</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <robotBaseFrame>${base_link}</robotBaseFrame>
  </plugin>
</gazebo>

1.2.滑动转向驱动

<gazebo>
 <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>${update_rate}</updateRate>
    <leftFrontJoint>${base_link_wheel1_joint}</leftFrontJoint>
    <rightFrontJoint>${base_link_wheel2_joint}</rightFrontJoint>
   <leftRearJoint>${base_link_wheel3_joint}</leftRearJoint>
    <rightRearJoint>${base_link_wheel4_joint}</rightRearJoint> 
    <wheelSeparation>0.100</wheelSeparation> 
    <wheelDiameter>0.040</wheelDiameter>
    <torque>20</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <robotBaseFrame>${base_link}</robotBaseFrame>
    <broadcastTF>1</broadcastTF>
  </plugin>
</gazebo>

2.传感器

2.1.单目相机插件

<!-- camera -->
      <gazebo reference="${camera_link}">
        <sensor type="camera" name="camera1">
          <update_rate>${update_rate}</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>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                   channels, which at that point lie in the range [0,1]. -->
              <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>camera</cameraName>
            <imageTopicName>image</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>
      </gazebo>

2.2. RGB-D相机插件

<gazebo reference="${camera_link}">
    <sensor type="depth" name="camera1">
        <always_on>1</always_on>
        <visualize>true</visualize>             
        <camera>
            <horizontal_fov>1.047</horizontal_fov>  
            <image>
                <width>640</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <depth_camera>

            </depth_camera>
            <clip>
                <near>0.1</near>
                <far>100</far>
            </clip>
        </camera>
             <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
             <alwaysOn>true</alwaysOn>
                <updateRate>10.0</updateRate>
                <cameraName>camera</cameraName>
                <frameName>${camera_link}</frameName>                   
            <imageTopicName>rgb/image_raw</imageTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>              
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>            
            <pointCloudCutoff>0.4</pointCloudCutoff>                
                <hackBaseline>0.07</hackBaseline>
                <distortionK1>0.0</distortionK1>
                <distortionK2>0.0</distortionK2>
                <distortionK3>0.0</distortionK3>
                <distortionT1>0.0</distortionT1>
                <distortionT2>0.0</distortionT2>
            <CxPrime>0.0</CxPrime>
            <Cx>0.0</Cx>
            <Cy>0.0</Cy>
            <focalLength>0.0</focalLength>
            </plugin>
    </sensor>
  </gazebo>

2.3. 激光雷达插件

<gazebo reference="${hokuyo_link}">
    <sensor type="ray" name="head_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
        <topicName>/laser/scan</topicName>
        <frameName>${hokuyo_link}</frameName>
      </plugin>
    </sensor>
  </gazebo>

更多信息参考这里