修改turtlebot模型（添加hokuyo激光雷达）

最新推荐文章于 2024-02-16 14:04:53 发布

chyou510

最新推荐文章于 2024-02-16 14:04:53 发布

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文章标签： slam linux

本文链接：https://blog.csdn.net/weixin_44288978/article/details/115489446

版权

这篇博客详细介绍了如何将turtlebot的默认kinect传感器替换为hokuyo激光雷达，包括修改urdf.xacro文件、添加hokuyo模型、下载模型包以及调整相关配置。通过这一系列步骤，实现了turtlebot的传感器升级，使其更适合进行2D激光导航任务。

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这里的turtlebot是使用源码安装的，如果是终端使用命令安装的对应修改以下路径中的文件：
/opt/ros/kinetic/share

一、添加kobuki_hexagons_hokuyo.urdf.xacro

cd ~/turtlebot/src/turtlebot/turtlebot_description/robots
gedit kobuki_hexagons_hokuyo.urdf.xacro

复制kobuki_hexagons_kinect.urdf.xacro中的内容并修改

<?xml version="1.0"?>
<!--
    - Base      : kobuki
    - Stacks    : hexagons
    - 3d Sensor : hokuyo
-->
<robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro" />
  <xacro:include filename="$(find kobuki_description)/urdf/kobuki.urdf.xacro" />
  <xacro:include filename="$(find turtlebot_description)/urdf/stacks/hexagons.urdf.xacro"/>
  <!--(修改这里，将kinect改为hokuyo)-->
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro"/>

  <kobuki/>
  <stack_hexagons parent="base_link"/>
  <!--(修改这里，将kinect改为hokuyo)-->
  <sensor_hokuyo parent="base_link"/>
</robot>

二、修改turtlebot_common_library.urdf.xacro

cd ~/turtlebot/src/turtlebot/turtlebot_description/urdf
gedit turtlebot_common_library.urdf.xacro

在此文件中增加内容

<?xml version="1.0"?>
<!--
  The complete turtlebot library of xacros for easy reference
 -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- General -->
  <xacro:include filename="$(find turtlebot_description)/urdf/common_properties.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>
  <!--(添加一行)-->
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro"/>
</robot>

三、添加hokuyo.urdf.xacro文件

cd ~/turtlebot/src/turtlebot/turtlebot_description/urdf/sensors
gedit hokuyo.urdf.xacro

<?xml version="1.0"?>
    <!-- script_version=1.1 -->
    <robot name="sensor_hokuyo" xmlns:xacro="http://ros.org/wiki/xacro">
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro"/>
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>

      <!-- Hokuyo 2D LIDAR -->
      <xacro:macro name="sensor_hokuyo" params="parent">
        <joint name="laser" type="fixed">
          <!--(此处修改激光雷达摆放位置)-->
          <origin xyz="0.0 0 0.3742" rpy="0 0.0 0.0" />
          <parent link="base_link" />
            <child link="hokuyo_link" />
        </joint>

        <!-- Hokuyo Laser -->
       <link name="hokuyo_link">
         <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://turtlebot_description/meshes/sensors/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>

        <!-- Set up laser gazebo details -->
        <turtlebot_sim_2dsensor/>
      </xacro:macro>
</robot>

四、下载hokuyo模型

参照gazebo官网教程下载hokuyo.dae模型包：网址

cd ~/.gazebo/models
wget -q -R *index.html*,*.tar.gz --no-parent -r -x -nH http://models.gazebosim.org/hokuyo/
cd ~/.gazebo/models/hokuyo/meshes
cp hokuyo_convex.stl ~/turtlebot/src/turtlebot/turtlebot_description/meshes/sensors
cp hokuyo.dae ~/turtlebot/src/turtlebot/turtlebot_description/meshes/sensors

五、为turtlebot_gazebo.urdf.xacro添加lidar

型号：URG-04LX 参数：扫描范围：240°、测量距离：0.06-5.6m、角度分辨率：0.36°、测量精度：0.03m

cd ~/turtlebot/src/turtlebot/turtlebot_description/urdf
gedit turtlebot_gazebo.urdf.xacro

<?xml version="1.0"?>
<robot name="turtlebot_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Microsoft Kinect / ASUS Xtion PRO Live for simulation -->
  <!--(把摄像头注释掉)-->
  <!--<xacro:macro name="turtlebot_sim_3dsensor">
    <gazebo reference="camera_link">
      <sensor type="depth" name="camera">
        <always_on>true</always_on>
        <update_rate>20.0</update_rate>
        <camera>
          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
          <image>
            <format>B8G8R8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8.0</far>
          </clip>
        </camera>
        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>camera_depth_optical_frame</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>-->
<!--(添加lidar)-->
<xacro:macro name="turtlebot_sim_2dsensor">
 <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>0.36</resolution>
                <min_angle>-1.047198</min_angle>
                <max_angle>1.047198</max_angle>
              </horizontal>
</scan>
            <range>
              <min>0.06</min>
              <max>5.6</max>
              <resolution>0.03</resolution>
            </range>
            <noise>
              <type>gaussian</type>

               <mean>0.0</mean>
              <stddev>0.01</stddev>
            </noise>
          </ray>
            <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
            <!--topicName>/turtlebot/laser/scan</topicName-->
            <topicName>scan</topicName>
            <frameName>hokuyo_link</frameName>
        </plugin>
        </sensor>
      </gazebo>
  </xacro:macro>
</robot>

六、修改hexagons.urdf.xacro

这个是turtlebot底盘的模型，由于不用kinect，所以把多余的部分去掉

cd ~/turtlebot/src/turtlebot/turtlebot_description/urdf/stacks
gedit hexagons.urdf.xacro

<?xml version="1.0"?>
<!--
  Hexagon stacks
 -->
<robot name="stack_hexagons" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find turtlebot_description)/urdf/common_properties.urdf.xacro"/>
  
  <!-- Xacro properties -->
  <xacro:property name="M_SCALE" value="0.001"/>
  
  <!-- Xacro macros -->
  <!-- Pole macros -->
  <xacro:macro name="stack_bottom_pole" params="parent number x_loc y_loc z_loc">
    <joint name="pole_bottom_${number}_joint" type="fixed">
      <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="0 0 0"/>
      <parent link="${parent}"/>
      <child link="pole_bottom_${number}_link"/>
    </joint>
    <link name="pole_bottom_${number}_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.0492" radius="0.006"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.008"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="0.000001686" ixy="0.0" ixz="0.0"
                 iyy="0.000001686" iyz="0.0"
                 izz="0.000000144"/>
      </inertial>
    </link>
  </xacro:macro>
  <!--(把中间的支架和平台去掉)-->
  <!--<xacro:macro name="stack_middle_pole" params="parent number x_loc y_loc z_loc">  
    <joint name="pole_middle_${number}_joint" type="fixed">
      <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="0 0 0" />
      <parent link="${parent}"/>
      <child link="pole_middle_${number}_link"/>
    </joint>
    <link name="pole_middle_${number}_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 ${M_PI} 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.0608" radius="0.006"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.012"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.000003805" ixy="0.0" ixz="0.0"
                 iyy="0.000003805" iyz="0.0"
                 izz="0.000000216"/>
      </inertial>
    </link>
  </xacro:macro>-->

  <xacro:macro name="stack_top_pole" params="parent number x_loc y_loc z_loc">  
    <joint name="pole_top_${number}_joint" type="fixed">
      <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="0 0 0"/>
      <parent link="${parent}"/>
      <child link="pole_top_${number}_link"/>
    </joint>
    <link name="pole_top_${number}_link">
      <visual>
        <origin xyz=" 0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.2032" radius="0.006"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.060"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.000206991" ixy="0.0" ixz="0.0"
                 iyy="0.000206991" iyz="0.0"
                 izz="0.000001080"/>
      </inertial>
    </link>
  </xacro:macro>
  <!--(把安装kinect的支架去掉)-->
  <!--<xacro:macro name="stack_3d_sensor_pole" params="parent number x_loc y_loc z_loc">
    <joint name="pole_kinect_${number}_joint" type="fixed">
      <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="0 0 0"/>
      <parent link="${parent}"/>
      <child link="pole_kinect_${number}_link"/>
    </joint>
    <link name="pole_kinect_${number}_link">
      <visual>
        <origin xyz="0 0 -0.01" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/sensors/sensor_pole.dae" />
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.0936" radius="0.006"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.020"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.000014782" ixy="0.0" ixz="0.0"
                 iyy="0.000014782" iyz="0.0"
                 izz="0.000000360"/>
      </inertial>
    </link>
  </xacro:macro>-->

  <!-- 
    Stack macro - all the components relative transforms are made with respect 
    to the parent link (usually base_link). They could be made relative to each
    other, but there is no necessary reason to do so.
  -->
  <xacro:macro name="stack_hexagons" params="parent">
    <stack_bottom_pole parent="${parent}" number="0" x_loc= "0.120" y_loc= "0.082" z_loc="0.1028"/>
    <stack_bottom_pole parent="${parent}" number="1" x_loc= "0.055" y_loc= "0.120" z_loc="0.1028"/>
    <stack_bottom_pole parent="${parent}" number="2" x_loc="-0.055" y_loc= "0.120" z_loc="0.1028"/>
    <stack_bottom_pole parent="${parent}" number="3" x_loc= "0.120" y_loc="-0.082" z_loc="0.1028"/>
    <stack_bottom_pole parent="${parent}" number="4" x_loc= "0.055" y_loc="-0.120" z_loc="0.1028"/>
    <stack_bottom_pole parent="${parent}" number="5" x_loc="-0.055" y_loc="-0.120" z_loc="0.1028"/>
    
    <joint name="plate_bottom_joint" type="fixed">
      <origin xyz="0.02364 0.0 0.1306" rpy="0 0 0"/>
      <parent link="${parent}"/>
      <child link="plate_bottom_link"/>
    </joint>  
    <link name="plate_bottom_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae"/>
        </geometry>
      </visual>  
      <collision>
        <origin xyz="-0.02364 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.006" radius="0.170"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.520" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.003328" ixy="0.0" ixz="0.0"
                 iyy="0.003328" iyz="0.0"
                 izz="0.006656" />
      </inertial>
    </link>
    <!--(把中间的支架和平台去掉)-->
    <!--<stack_middle_pole parent="${parent}" number="0" x_loc= "0.0381" y_loc= "0.1505" z_loc="0.1640"/>
    <stack_middle_pole parent="${parent}" number="1" x_loc= "0.0381" y_loc="-0.1505" z_loc="0.1640"/>
    <stack_middle_pole parent="${parent}" number="2" x_loc="-0.0381" y_loc= "0.1505" z_loc="0.1640"/>
    <stack_middle_pole parent="${parent}" number="3" x_loc="-0.0381" y_loc="-0.1505" z_loc="0.1640"/>
    
    <joint name="plate_middle_joint" type="fixed">
      <origin xyz="-0.01364 0.0 0.1874" rpy="0 0 0"/>
      <parent link="${parent}"/>
      <child link="plate_middle_link"/>
    </joint>  
    <link name="plate_middle_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/stacks/hexagons/plate_middle.dae"/>
        </geometry>
      </visual>  
      <collision>
        <origin xyz="0.01364 0.0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.006" radius="0.170"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.520" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.003328" ixy="0.0" ixz="0.0"
                 iyy="0.003328" iyz="0.0"
                 izz="0.006656" />
      </inertial>  
    </link>-->
    <!--(把顶部的支架和平台下移0.0608即中间支架的高度)-->
    <stack_top_pole parent="${parent}" number="0" x_loc= "0.0381" y_loc= "0.1505" z_loc="0.2312"/>
    <stack_top_pole parent="${parent}" number="1" x_loc= "0.0381" y_loc="-0.1505" z_loc="0.2312"/>
    <stack_top_pole parent="${parent}" number="2" x_loc="-0.0381" y_loc= "0.1505" z_loc="0.2312"/>
    <stack_top_pole parent="${parent}" number="3" x_loc="-0.0381" y_loc="-0.1505" z_loc="0.2312"/>
    <!--(把安装kinect的支架去掉)-->
    <!--<stack_3d_sensor_pole parent="${parent}" number="0" x_loc="-0.1024" y_loc= "0.098" z_loc="0.2372"/>
    <stack_3d_sensor_pole parent="${parent}" number="1" x_loc="-0.1024" y_loc="-0.098" z_loc="0.2372"/>-->
    
    <joint name="plate_top_joint" type="fixed">
      <origin xyz="-0.01364 0.0  0.3358" rpy="0 0 0"/>
      <parent link="${parent}"/>
      <child link="plate_top_link"/>
    </joint>  
    <link name="plate_top_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot_description/meshes/stacks/hexagons/plate_top.dae"/>
        </geometry>
      </visual>  
      <collision>
        <origin xyz="0.01364 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.006" radius="0.170"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.520"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.003328" ixy="0.0" ixz="0.0"
                 iyy="0.003328" iyz="0.0"
                 izz="0.006656" />
      </inertial>
    </link>
  </xacro:macro>
</robot>

效果图：

七、修改环境变量

gedit ~/.bashrc

添加内容

export  TURTLEBOT_BASE=kobuki
export  TURTLEBOT_STACKS=hexagons
export  TURTLEBOT_3D_SENSOR=hokuyo