多线激光雷达+imu的gazebo仿真
前言:在做2D/3D slam的课题研究时,往往我们手里头没有昂贵的多线激光雷达和惯性传感器,ros提供了相应的传感器插件,通过插件可以在物理仿真环境下,模拟传感器运行时的效果。
1.搭建小车底盘模型
gazebo下xacro描述文件多加了碰撞标签和惯性矩阵,定义常见形状的惯性矩阵描述文件my_inertia.xacro,
<robot name="base" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- Macro for inertia matrix -->
<xacro:macro name="sphere_inertial_matrix" params="m r">
<inertial>
<mass value="${m}" />
<inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
iyy="${2*m*r*r/5}" iyz="0"
izz="${2*m*r*r/5}" />
</inertial>
</xacro:macro>
<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 l w h">
<inertial>
<mass value="${m}" />
<inertia ixx="${m*(h*h + l*l)/12}" ixy = "0" ixz = "0"
iyy="${m*(w*w + l*l)/12}" iyz= "0"
izz="${m*(w*w + h*h)/12}" />
</inertial>
</xacro:macro>
</robot>
xacro文件格式对urdf文件格式进行了升级,提高了urdf格式代码的复用性。小车底盘的描述文件 my_car_Cylider.xacro如下:
<!--
使用 xacro 优化 URDF 版的小车底盘实现:
实现思路:
1.将一些常量、变量封装为 xacro:property
比如:PI 值、小车底盘半径、离地间距、车轮半径、宽度 ....
2.使用 宏 封装驱动轮以及支撑轮实现,调用相关宏生成驱动轮与支撑轮
-->
<!-- 根标签,必须声明 xmlns:xacro -->
<robot name="my_base" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- 封装变量、常量 -->
<xacro:property name="PI" value="3.141"/>
<!-- 宏:黑色设置 -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<!-- 底盘属性 -->
<xacro:property name="base_footprint_radius" value="0.001" /> <!-- base_footprint 半径 -->
<xacro:property name="base_link_radius" value="0.1" /> <!-- base_link 半径 -->
<xacro:property name="base_link_length" value="0.08" /> <!-- base_link 长 -->
<xacro:property name="earth_space" value="0.02" /> <!-- 离地间距 -->
<xacro:property name="base_link_m" value="1.0" /> <!-- 质量 -->
<!-- 底盘 -->
<link name="base_footprint">
<visual>
<geometry>
<sphere radius="${base_footprint_radius}" />
</geometry>
</visual>
</link>
<link name="base_link">
<visual>
<geometry>
<cylinder radius="${base_link_radius}" length="${base_link_length}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="yellow">
<color rgba="0.5 0.3 0.0 0.5" />
</material>
</visual>
<collision>
<geometry>
<cylinder radius="${base_link_radius}" length="${base_link_length}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</collision>
<xacro:cylinder_inertial_matrix m="${base_link_m}" r="${base_link_radius}" h="${base_link_length}" />
</link>
<joint name="base_link2base_footprint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0 0 ${earth_space + base_link_length / 2 }" />
</joint>
<gazebo reference="base_link">
<material>Gazebo/Yellow</material>
</gazebo>
<!-- 驱动轮 -->
<!-- 驱动轮属性 -->
<xacro:property name="wheel_radius" value="0.0325" /><!-- 半径 -->
<xacro:property name="wheel_length" value="0.015" /><!-- 宽度 -->
<xacro:property name="wheel_m" value="0.05" /> <!-- 质量 -->
<!-- 驱动轮宏实现 -->
<xacro:macro name="add_wheels" params="name flag">
<link name="${name}_wheel">
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_length}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
<material name="black" />
</visual>
<collision>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_length}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
</collision>
<xacro:cylinder_inertial_matrix m="${wheel_m}" r="${wheel_radius}" h="${wheel_length}" />
</link>
<joint name="${name}" type="continuous">
<parent link="base_link" />
<child link="${name}_wheel" />
<origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" />
<axis xyz="0 1 0" />
</joint>
<gazebo reference="${name}_wheel">
<material>Gazebo/White</material>
</gazebo>
</xacro:macro>
<xacro:add_wheels name="base_l_wheel_joint" flag="1" />
<xacro:add_wheels name="base_r_wheel_joint" flag="-1" />
<!-- 支撑轮 -->
<!-- 支撑轮属性 -->
<xacro:property name="support_wheel_radius" value="0.01" /> <!-- 支撑轮半径 -->
<xacro:property name="support_wheel_m" value="0.03" /> <!-- 质量 -->
<!-- 支撑轮宏 -->
<xacro:macro name="add_support_wheel" params="name flag" >
<link name="${name}_wheel">
<visual>
<geometry>
<sphere radius="${support_wheel_radius}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="black" />
</visual>
<collision>
<geometry>
<sphere radius="${support_wheel_radius}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</collision>
<xacro:sphere_inertial_matrix m="${support_wheel_m}" r="${support_wheel_radius}" />
</link>
<joint name="${name}_wheel2base_link" type="continuous">
<parent link="base_link" />
<child link="${name}_wheel" />
<origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" />
<axis xyz="1 1 1" />
</joint>
<gazebo reference="${name}_wheel">
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
<xacro:add_support_wheel name="front" flag="1" />
<xacro:add_support_wheel name="back" flag="-1" />
</robot>
2.添加多线激光雷达
多线激光雷达的配置文件my_sensor_vodyne.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="velodyne">
<!-- Gazebo requires the velodyne_gazebo_plugins package -->
<gazebo reference="vodyne">
<sensor type="ray" name="vodyne16">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>1800</samples> <!-- Change this to 500 if gazebo keeps timing out -->
<resolution>0.2</resolution>
<min_angle>-${M_PI}</min_angle>
<max_angle> ${M_PI}</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<resolution>2</resolution>
<min_angle>-${15*M_PI/180.0}</min_angle>
<max_angle> ${15*M_PI/180.0}</max_angle>
</vertical>
</scan>
<range>
<min>0.055</min>
<max>100.0</max>
<resolution>0.1</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
<topicName>/velodyne_points</topicName>
<frameName>vodyne</frameName>
<min_range>0.9</min_range>
<max_range>130.0</max_range>
<gaussianNoise>0.0</gaussianNoise>
</plugin>
</sensor>
</gazebo>
</robot>
在gazebo环境下添加多线激光雷达物理模型my_vodyne_gazebo.xacro
<!--
小车底盘添加雷达
-->
<robot name="my_vodyne" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- 雷达属性 -->
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="laser_length" value="0.03" /> <!-- 雷达长度 -->
<xacro:property name="laser_radius" value="0.03" /> <!-- 雷达半径 -->
<xacro:property name="laser_x" value="0.0" /> <!-- 雷达安装的x坐标 -->
<xacro:property name="laser_y" value="0.0" /> <!-- 雷达安装的y坐标 -->
<xacro:property name="laser_z" value="0.055" /> <!-- 雷达安装的z坐标:支架高度 / 2 + 雷达高度 / 2 -->
<xacro:property name="laser_m" value="0.1" /> <!-- 雷达质量 -->
<!-- 雷达关节以及link -->
<link name="vodyne">
<visual>
<geometry>
<cylinder radius="${laser_radius}" length="${laser_length}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<material name="black" />
</visual>
<collision>
<geometry>
<cylinder radius="${laser_radius}" length="${laser_length}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
<xacro:cylinder_inertial_matrix m="${laser_m}" r="${laser_radius}" h="${laser_length}" />
</link>
<joint name="vodynetoBaselink" type="fixed">
<parent link="base_link" />
<child link="vodyne" />
<origin xyz="${laser_x} ${laser_y} ${laser_z}" />
</joint>
<gazebo reference="vodyne">
<material>Gazebo/Blue</material>
</gazebo>
</robot>
3.添加IMU
imu的配置文件my_sensor_imu.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo reference="imu">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu</topicName>
<bodyName>imu</bodyName>
<updateRateHZ>100.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
</robot>
在gazebo环境下添加imu物理模型my_imu_gazebo.xacro
<robot name="imu" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:property name="imu_offset_x" value="0" />
<xacro:property name="imu_offset_y" value="0" />
<xacro:property name="imu_offset_z" value="0.02" />
<xacro:property name="imu_size" value="0.01" />
<xacro:property name="imu_m" value="0.01" /> <!-- imu质量 -->
<!-- imu -->
<joint name="imutoVodyne" type="fixed">
<origin xyz="${imu_offset_x} ${imu_offset_y} ${imu_offset_z}" rpy="0 0 0" />
<parent link="vodyne"/>
<child link="imu"/>
</joint>
<link name="imu">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="${imu_size} ${imu_size} ${imu_size}"/>
</geometry>
<material name= "red" >
<color rgba="1.0 0.0 0.0 1.0" />
</material>
</visual>
<collision>
<geometry>
<box size="${imu_size} ${imu_size} ${imu_size}" />
</geometry>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0" />
</collision>
<xacro:Box_inertial_matrix m = "${imu_m}" l = "${imu_size}" w = "${imu_size}" h = "${imu_size}"/>
</link>
<gazebo reference="imu">
<material>Gazebo/Red</material>
</gazebo>
</robot>
4.测试仿真
将小车底盘、多线激光雷达、Imu组合到一起的xacro文件 my_car_vodyne_imu.xacro
<!-- 组合小车底盘与imu 激光雷达-->
<robot name="my_car_camera_laser" xmlns:xacro="http://wiki.ros.org/xacro" reference= "base_footprint_radius">
<!--注意inliude的顺序!-->
<xacro:include filename="my_inertial.xacro" />
<xacro:include filename="my_car_Cylider.xacro" />
<xacro:include filename="my_vodyne_gazebo.xacro" />
<xacro:include filename="my_imu_gazebo.xacro" />
<!--rplidar仿真的xacro文件-->
<xacro:include filename="$(find myrobot_gazebo)/urdf/sensor/my_sensor_rplidar.xacro" />
<!--摄像头仿真的xacro文件-->
<!--xacro:include filename="$(find myrobot_gazebo)/urdf/sensor/my_sensor_camera.xacro" /-->
<!--imu仿真的xacro文件-->
<xacro:include filename="$(find myrobot_gazebo)/urdf/sensor/my_sensor_imu.xacro" />
<!--vodyne仿真的xacro文件-->
<xacro:include filename="$(find myrobot_gazebo)/urdf/sensor/my_sensor_vodyne.xacro" />
</robot>
编写launch文件 my_car_vodyne_imu.launch
<launch>
<!-- 将 Urdf 文件的内容加载到参数服务器 -->
<param name="robot_description" command="my_car_vodyne_imu.xacro" />
<!-- 启动 gazebo -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
</include>
<!-- 在 gazebo 中显示机器人模型 -->
<node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model mycar -param robot_description" />
<!--发布机器人的状态-->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
</launch>
打开终端,启动launch文件,可以看到组合到一起的效果
另开一个终端 输入
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'
gazebo下测试的效果