ros 学习记录（一）URDF小车创建及可视化

西木九

已于 2024-05-09 17:06:44 修改

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分类专栏： robotic 文章标签： ROS URDF xacro launch

于 2024-05-09 00:57:01 首次发布

本文链接：https://blog.csdn.net/weixin_45654152/article/details/138445334

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URDF小车创建及可视化

准备工作

名称	版本
ROS	Noetic
Gazebo	11.11.0

小车俯视图
在这里插入图片描述

1. 创建workspace和package

mkdir -p ~/robot_four/src
cd ..
sudo apt-get install python3-catkin-tools (如果 `catkin：command not found`)
catkin build
# source ~/robot_four/devel/setup.bash (等同于以下)
echo "source ~/robot_four/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

cd ~/robot_four/src
catkin_create_pkg robot_model_pkg_zoe gazebo_msgs gazebo_plugins gazebo_ros

2. URDF文件创建

URDF 和 Xacro 文件关系：
Xacro（XML Macros）是一种用于生成URDF（Unified Robot Description Format）文件的工具，它可以简化URDF文件的编写过程。
URDF是一种用于描述机器人模型的XML文件格式。
所以我们写xacro文件就可以了。

cd ~/roboT_four/src/robot_model_pkg_zoe
mkdir urdf
mkdir launch
cd urdf
touch robot.xacro

robot.xacro具体内容如下

<?xml version="1.0"?>
<!--##########################################-->
<!--DESCRIPTION OF THE 4-WHEELED ROBOT-->
<!--##########################################-->

<robot name="differential_drive_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
    
<!--Body dimensions-->
<xacro:property name="body_link_x_dim" value="1"/>
<xacro:property name="body_link_y_dim" value="0.6"/>
<xacro:property name="body_link_z_dim" value="0.3"/>

<!--Wheel dimensions-->
<xacro:property name="wheel_link_radius" value="0.15"/>
<xacro:property name="wheel_link_length" value="0.1"/>
<xacro:property name="wheel_link_z_location" value="-0.1"/>

<!--Material density-->
<xacro:property name="body_density" value="2710.0"/>
<xacro:property name="wheel_density" value="2710.0"/>

<!--Pi constant-->
<xacro:property name="pi_constant" value="3.14159265" />

<!--Robot body and wheel mass-->
<xacro:property name="body_mass" value="${body_density*body_link_x_dim*body_link_y_dim*body_link_z_dim}"/>
<xacro:property name="wheel_mass" value="${wheel_density*wheel_link_radius*wheel_link_radius*pi_constant*wheel_link_length}"/>

<!--Moments of inertia of the wheel-->
<xacro:property name="Iz_wheel" value="${0.5*wheel_mass*wheel_link_radius*wheel_link_radius}"/>
<xacro:property name="I_wheel" value="${(1.0/12.0)*wheel_mass*(3.0*wheel_link_radius*wheel_link_radius+wheel_link_length*wheel_link_length)}"/>

<!--This macro defines the complete inertial section of the wheel-->
<!--It is used later in the code-->
<xacro:macro name="inertial_wheel">
    <inertial>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <mass value="${wheel_mass}"/>
        <inertia ixx="${I_wheel}" ixy="0.0" ixz="0.0" iyy="${I_wheel}" iyz="0.0" izz="${Iz_wheel}"/>
    </inertial>
</xacro:macro>

<!--Over here we include the file that defines extra Gazebo options and motion control driver-->
<xacro:include filename="$(find robot_model_pkg_zoe)/urdf/robot.gazebo"/>

<!--######################################################-->
<!--FROM HERE WE DEFINE LINKS, JOINTS-->
<!--######################################################-->

<!--we need to have this dummy link otherwise Gazebo will complain-->
<link name="dummy">    
</link>
<joint name="dummy_joint" type="fixed">
    <parent link="dummy"/>
    <child link="body_link"/>
</joint>

<!--######################################################-->
<!--START: BODY LINK OF THE ROBOT-->
<!--######################################################-->
<link name="body_link">
    <visual>
        <geometry>
            <box size="${body_link_x_dim} ${body_link_y_dim} ${body_link_z_dim}"/>
        </geometry>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>

    <collision>
        <geometry>
            <box size="${body_link_x_dim} ${body_link_y_dim} ${body_link_z_dim}"/>
        </geometry>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>

    <inertial>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <mass value="${body_mass}"/>

        <inertia ixx="${(1/12)*body_mass*(body_link_y_dim*body_link_y_dim+body_link_z_dim*body_link_z_dim)}" ixy="0"
        ixz="0" iyy="${(1/12)*body_mass*(body_link_x_dim*body_link_x_dim+body_link_z_dim*body_link_z_dim)}"
        iyz="0"
        izz="${(1/12)*body_mass*(body_link_y_dim*body_link_y_dim+body_link_x_dim*body_link_x_dim)}"/>
    </inertial>
</link>

<!--######################################################-->
<!--END: BODY LINK OF THE ROBOT-->
<!--######################################################-->


<!--######################################################-->
<!--START: BACK RIGHT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->

<joint name="wheel1_joint" type="continuous">
    <parent link="body_link"/>
    <child link="wheel1_link"/>
    <origin xyz="${-body_link_x_dim/2+1.2*wheel_link_radius} ${-body_link_y_dim/2-wheel_link_length/2} ${wheel_link_z_location}" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1000.0" velocity="1000.0"/>
    <dynamics damping="1.0" friction="1.0"/>
</joint>

<link name="wheel1_link">
    <visual>
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </visual>

    <collision> 
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </collision>

    <xacro:inertial_wheel/>
</link>

<!--######################################################-->
<!--END: BACK RIGHT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->


<!--######################################################-->
<!--START: BACK LEFT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->

<joint name="wheel2_joint" type="continuous">
    <parent link="body_link"/>
    <child link="wheel2_link"/>
    <origin xyz="${-body_link_x_dim/2+1.2*wheel_link_radius} ${body_link_y_dim/2+wheel_link_length/2} ${wheel_link_z_location}" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1000.0" velocity="1000.0"/>
    <dynamics damping="1.0" friction="1.0"/>
</joint>

<link name="wheel2_link">
    <visual>
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </visual>

    <collision> 
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </collision>

    <xacro:inertial_wheel/>
</link>

<!--######################################################-->
<!--END: BACK LEFT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->

<!--######################################################-->
<!--START: FRONT RIGHT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->

<joint name="wheel3_joint" type="continuous">
    <parent link="body_link"/>
    <child link="wheel3_link"/>
    <origin xyz="${body_link_x_dim/2-1.2*wheel_link_radius} ${-body_link_y_dim/2-wheel_link_length/2} ${wheel_link_z_location}" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1000.0" velocity="1000.0"/>
    <dynamics damping="1.0" friction="1.0"/>
</joint>

<link name="wheel3_link">
    <visual>
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </visual>

    <collision> 
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </collision>

    <xacro:inertial_wheel/>
</link>

<!--######################################################-->
<!--END: FRONT RIGHT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->


<!--######################################################-->
<!--START: FRONT LEFT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->

<joint name="wheel4_joint" type="continuous">
    <parent link="body_link"/>
    <child link="wheel4_link"/>
    <origin xyz="${body_link_x_dim/2-1.2*wheel_link_radius} ${body_link_y_dim/2+wheel_link_length/2} ${wheel_link_z_location}" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1000.0" velocity="1000.0"/>
    <dynamics damping="1.0" friction="1.0"/>
</joint>

<link name="wheel4_link">
    <visual>
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </visual>

    <collision> 
        <origin rpy="1.570795 0.0 0.0" xyz="0.0 0.0 0.0"/>
        <geometry>
            <cylinder radius="${wheel_link_radius}" length="${wheel_link_length}"/>
        </geometry>
    </collision>

    <xacro:inertial_wheel/>
</link>

<!--######################################################-->
<!--END: FRONT LEFT WHEEL OF THE ROBOT AND THE JOINT-->
<!--######################################################-->

</robot>

robot.gazebo文件 -> 规定了robot各部件在gazebo中显示的颜色。

<?xml version="1.0"?>
<!--###########################################-->
<!--GAZEBO  ADDITIONAL DESCRIPTION OF THE 4-WHELLED ROBOT-->
<!--MADE BY ZOE, FOLLOW ALEKSANDAR HABER-->
<!--MAY 2024-->
<!--###########################################-->

<robot>

<!--mu1 and mu2 are friction coefficients-->
<gazebo reference="body_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>

<gazebo reference="wheel1_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Yellow</material>
</gazebo>

<gazebo reference="wheel2_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Yellow</material>
</gazebo>

<gazebo reference="wheel3_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Yellow</material>
</gazebo>

<gazebo reference="wheel4_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Yellow</material>
</gazebo>

<!--Controller for the 4-wheeled robot-->
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">

    <!--Control update rate in Hz-->
    <updateRate>100.0</updateRate>
    <!--Leave this empty otherwise, there will be problems with sending control commands-->
    <robotNamespace> </robotNamespace>

    <!--Robot kinematics-->
    <leftFrontJoint>wheel4_joint</leftFrontJoint>
    <rightFrontJoint>wheel3_joint</rightFrontJoint>
    <leftRearJoint>wheel2_joint</leftRearJoint>
    <rightRearJoint>wheel1_joint</rightRearJoint>
    <wheelSeparation>${body_link_y_dim+wheel_link_length}</wheelSeparation>
    <wheelDiameter>${2*wheel_link_radius}</wheelDiameter>

    <!--Maxium torque which the wheels can produce, in Nm, defaults to 5 Nm-->
    <torque>1000</torque>

    <!--Topic to receive geometry_msgs/Twist message commands, defaults to 'cmd_vel'-->
    <commandTopic>cmd_vel</commandTopic>
    <!--Topic to publish nav_msgs/Odometry messages, defaults to 'odom'-->
    <odometryTopic>odom</odometryTopic>
    <!--Odometry frame, defaults to 'odom'-->
    <odometryFrame>odom</odometryFrame>
    <!--Robot frame to calculabte odometry from, defaults to 'base_footprint'-->
    <robotBaseFrame>dummy</robotBaseFrame>
    <!--Set to true to publish transfroms for the wheel links, defaults to false-->
    <publishWheelTF>true</publishWheelTF>
    <!--Set to true to publish transforms for the odometry, defaults to true-->
    <publishOdom>true</publishOdom>
    <!--Set to true to publish sensor_msgs/JointState on /joint_states for the wheel joints, defaults to false-->
    <publishWheelJointState>true</publishWheelJointState>
    <!--This part is requeired by Gazebo-->
    <covariance_x>0.0001</covariance_x>
    <covariance_y>0.0001</covariance_y>
    <covariance_yaw>0.01</covariance_yaw>
</plugin>

</gazebo>
</robot>

3. 将`xacro`文件转换成`urdf`

cd ~/robot_four/src/robot_model_pkg_zoe/urdf
rosrun xacro xacro robot.xacro > robot.urdf

4. `URDF`可视化

4.1 用launch文件来可视化`urdf`

cd ~/robot_four/src/robot_model_pkg_zoe/launch
touch robot_show.launch

robot_show.launch文件如下

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />

    <param name="robot_description" textfile="$(find robot_model_pkg_zoe)/urdf/robot.urdf" />
    
    <param name="use_gui" value="$(arg gui)"/>

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_model_pkg_zoe)/rviz/robot.rviz" />
</launch>

cd ~/robot_four
roslaunch robot_model_pkg_zoe robot_show.launch

4.2 命令行可视化

roslaunch urdf_tutorial display.launch model:='$(find robot_model_pkg_zoe)/urdf

这时候可能会显示错误，只要把Fixed Frame改成我们自己定义的dummy就会正常显示。

其中的颜色信息会在gazebo中体现，在rviz中还看不到。
在这里插入图片描述

参考：
https://www.youtube.com/watch?v=ad2jd8SCK-o

西木九

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ros 学习记录（一）URDF小车创建及可视化

urdf xacro 文件构建小车及可视化
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专栏目录

ros 学习记录（一）URDF小车创建及可视化

URDF小车创建及可视化

准备工作

1. 创建workspace和package

2. URDF文件创建

3. 将xacro文件转换成urdf

4. URDF可视化

4.1 用launch文件来可视化urdf

4.2 命令行可视化

“相关推荐”对你有帮助么？

3. 将`xacro`文件转换成`urdf`

4. `URDF`可视化

4.1 用launch文件来可视化`urdf`