ROS教程

1.模型文件创建

1.1工作空间创建

mkdir -p yxtbot/src //创建多级工作空间
catkin_make  //编译工作空间
cd
cd yxtbot/src  //跳转
catkin_create_pkg modell std_msgs rospy roscpp // 创建模型包

创建yxtbot/src/modell/urdf/yxtbot.xacro文件
文件代码：

<?xml version='1.0'?>

<robot name="yxtbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:property name="cameraSize" value="0.05"/>
  <xacro:property name="cameraMass" value="0.1"/>

  <xacro:include filename="$(find modell)/urdf/yxtbot.gazebo" />
  <xacro:include filename="$(find modell)/urdf/materials.xacro" />
  <xacro:include filename="$(find modell)/urdf/macros.xacro" />


  <link name='chassis'>
    <pose>0 0 0.1 0 0 0</pose>

    <inertial>
      <mass value="15.0"/>
      <origin xyz="0.0 0 0.1" rpy=" 0 0 0"/>
      <inertia
          ixx="0.1" ixy="0" ixz="0"
          iyy="0.1" iyz="0"
          izz="0.1"
      />
    </inertial>

    <collision name='collision'>
      <geometry>
        <box size=".4 .2 .1"/>
      </geometry>
    </collision>

    <visual name='chassis_visual'>
      <origin xyz="0 0 0" rpy=" 0 0 0"/>
      <geometry>
        <box size=".4 .2 .1"/>
      </geometry>
    </visual>


    <collision name='caster_collision'>
      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>

    <visual name='caster_visual'>
      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
    </visual>

    <collision name='caster_front_collision'>
      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>

    <visual name='caster_front_visual'>
      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
    </visual>

  </link>


  <link name="left_wheel">
    <!--origin xyz="0.1 0.13 0.1" rpy="0 1.5707 1.5707"/-->
    <collision name="collision">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
    </collision>
    <visual name="left_wheel_visual">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
      <mass value="5"/>
      <inertia
        ixx=".1" ixy="0.0" ixz="0.0"
        iyy=".1" iyz="0.0"
        izz=".1"/>
    </inertial>
  </link>

  <link name="right_wheel">
    <!--origin xyz="0.1 -0.13 0.1" rpy="0 1.5707 1.5707"/-->
    <collision name="collision">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
    </collision>
    <visual name="right_wheel_visual">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
      <mass value="5"/>
      <inertia
        ixx=".1" ixy="0.0" ixz="0.0"
        iyy=".1" iyz="0.0"
        izz=".1"/>
    </inertial>
  </link>


  <joint type="continuous" name="left_wheel_hinge">
    <origin xyz="0 0.15 0" rpy="0 0 0"/>
    <!--origin xyz="0.1 0.13 0" rpy="0 1.5707 1.5707"/-->
    <child link="left_wheel"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
    <limit effort="10000" velocity="1000"/>
    <joint_properties damping="1.0" friction="1.0"/>
  </joint>

  <joint type="continuous" name="right_wheel_hinge">
    <origin xyz="0 -0.15 0" rpy="0 0 0"/>
    <!--origin xyz="0.1 -0.13 0" rpy="0 1.5707 1.5707"/-->
    <child link="right_wheel"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
    <limit effort="10000" velocity="1000"/>
    <joint_properties damping="1.0" friction="1.0"/>
  </joint>


  <link name="camera">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
      </geometry>
      <material name="green"/>
    </visual>

    <inertial>
      <mass value="${cameraMass}" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <box_inertia m="${cameraMass}" x="${cameraSize}" y="${cameraSize}" z="${cameraSize}" />
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

  <joint name="camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz=".2 0 0" rpy="0 0 0"/>
    <parent link="chassis"/>
    <child link="camera"/>
  </joint>


  <joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz=".15 0 .1" rpy="0 0 0"/>
    <parent link="chassis"/>
    <child link="hokuyo"/>
  </joint>

  <!-- Hokuyo Laser -->
  <link name="hokuyo">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://modell/meshes/hokuyo.dae"/>
      </geometry>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>
</robot>

调用了material.xacro文件指定颜色