simulink+gazebo通信控制机械臂

1、## 这个博客实现了urdf在gazebo的整个实现过程
2、上述博客里面的模型乱飞问题需要修改urdf的关节速度，因为速度过大，模型发生了碰撞，因此模型就乱飞
3、最近一段时间，在调试gazebo的反馈和simulink的输入给定一致
4、调试过程中遇到了比较多的问题，最后慢慢摸索解决最终的运行效果如下，可以看到gazebo里面的机械臂能够和simulink的机械臂运动估计基本一致，前期存在较大抖动，应该是什么参数没调好，后续还需要进行修改。

5、实现上述过程我主要是修改了
（.world文件）添加ode物理引擎

<physics name="default_physics" default="0" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <ode>
        <solver>
          <type>quick</type>
          <iters>50</iters>
          <sor>1.0</sor> <!-- Important, see issue #2209 -->
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
      </ode>
    </physics>

.world文件的整体代码如下：

<?xml version="1.0"?>
<sdf version='1.6'>
  <world name="default">
  <physics name="default_physics" default="0" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <ode>
        <solver>
          <type>quick</type>
          <iters>50</iters>
          <sor>1.0</sor> <!-- Important, see issue #2209 -->
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
      </ode>
    </physics>

  <joint name="world_to_robot" type="fixed">
   <parent>world</parent> 
   <child>Gluon_6L3::base_link</child>
</joint>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>
    
    <model name="box">
      <pose>0.2 0.4 0.6 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>0.05 0.05 0.05</size>
            </box>
          </geometry>
        </collision>
 
        <visual name="visual">
          <geometry>
            <box>
              <size>0.05 0.05 0.05</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model> 
      

    <plugin name='GazeboPlugin' filename='lib/libGazeboCoSimPlugin.so'>
      <portNumber>14581</portNumber>
    </plugin>
  </world>
</sdf>

（2）urdf文件：这部分必须是hardwareInterface/PositionJointInterface；如果只写PositionJointInterface会回到初始状态位置

<transmission name="shoulder_pan_joint_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_joint_motor">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>0.05</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_joint_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_joint_motor">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>0.05</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_joint_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_joint_motor">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>0.05</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_joint_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_joint_motor">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>0.05</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_joint_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_joint_motor">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>0.05</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_joint_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_joint_motor">
      <hardwareInterface>hardwareInterface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>0.05</mechanicalReduction>
    </actuator>
  </transmission>

6、经过上述两部分，我是实现了图片那种效果，不知道是不是大家也能实现。也可能我过程中乱七八糟改了很多地方忘记记录，准备再走一遍新的urdf试一下是不是能够实现上述过程。