ROS+Arbotix

ArbotiX+rviz功能仿真中出现的问题

按照教程安装ArbotiX(ubuntu16.04 ros kinetic)

$git clone https://github.com/vanadiumlabs/arbotix_ros.git
//根目录下进行编译
$catkin_make

下载完成后可看到catkin_ws/src/arbotix_ros
进入arbotix_ros/arbotix_python/bin更改三个文件的权限，允许作为程序执行文件
在第一次编译时出现了python版本错误，进入arbotix_driver，将python3改成python2.7

仿真环境搭配

创建mbot_with_camera.xacro

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:property name="M_PI" value="3.1415926"/>
    <xacro:property name="base_radius" value="0.20"/>
    <xacro:property name="base_length" value="0.16"/>

    <xacro:property name="wheel_radius" value="0.06"/>
    <xacro:property name="wheel_length" value="0.025"/>
    <xacro:property name="wheel_joint_y" value="0.19"/>
    <xacro:property name="wheel_joint_z" value="0.05"/>

    <xacro:property name="caster_radius" value="0.015"/> 
    <xacro:property name="caster_joint_x" value="0.18"/>

    <xacro:property name="camera_joint_x" value="0.17"/>
    <xacro:property name="camera_joint_z" value="0.10"/>
 
    <material name="yellow">
        <color rgba="1 0.4 0 1"/>
    </material>
    <material name="black">
        <color rgba="0 0 0 0.95"/>
    </material>
    <material name="gray">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>
  

  
    <xacro:macro name="wheel" params="prefix reflect">
        <joint name="${prefix}_wheel_joint" type="continuous">
            <origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix}_wheel_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix}_wheel_link">
            <visual>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                <geometry>
                    <cylinder radius="${wheel_radius}"  length = "${wheel_length}"/>
                </geometry>
                <material name="gray" />
            </visual>
        </link>
    </xacro:macro>
 


    <xacro:macro name="caster" params="prefix reflect">
        <joint name="${prefix}_caster_joint" type="continuous">
            <origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="${prefix}_caster_link"/>
            <axis xyz="0 1 0"/>
        </joint>

        <link name="${prefix}_caster_link">
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                    <sphere radius="${caster_radius}" />
                </geometry>
                <material name="black" />
            </visual>
        </link>
    </xacro:macro>
  


    <xacro:macro name="camera" >
        <joint name="camera_joint" type="continuous">
            <origin xyz="${camera_joint_x} 0 ${camera_joint_z}" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="camera_link"/>
        </joint>

        <link name="camera_link">
            <visual>
	            <origin xyz=" 0 0 0 " rpy="0 0 0" />
	            <geometry>
	                <box size="0.03 0.04 0.04" />
	            </geometry>
	            <material name="black"/>
	     </visual>
        </link>
    </xacro:macro>



        <xacro:macro name="mbot_base">  
        <link name="base_footprint">  
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="0.001 0.001 0.001" />
                </geometry>
            </visual>
        </link>

        <joint name="base_footprint_joint" type="fixed">
            <origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />        
            <parent link="base_footprint"/>
            <child link="base_link" />
        </joint>

        <link name="base_link">
            <visual>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="${base_length}" radius="${base_radius}"/>
                </geometry>
                    <material name="yellow" />
            </visual>
        </link>

        <wheel prefix="left" reflect="-1"/> 
        <wheel prefix="right" reflect="1"/> 

        <caster prefix="front" reflect="-1"/> 
        <caster prefix="back" reflect="1"/> 
        <camera/>
    </xacro:macro>


</robot>

修改mbot.xacro

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find mbot_description)/urdf/xacro/mbot_with_camera.xacro" /> 
    <mbot_base/>   
</robot>

创建launch文件（arbotix_mbot_with_camera_xacro.launch）

<launch>
	<arg name="model" default="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/mbot.xacro'" />
	<arg name="gui" default="false" />

	<param name="robot_description" command="$(arg model)" />

 
	<param name="use_gui" value="$(arg gui)"/>

   
	<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
		<rosparam file="$(find mbot_description)/config/fake_mbot_arbotix.yaml" command="load" />
		<param name="sim" value="true"/>
        </node>

  
	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />


	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />


	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_arbotix.rviz" required="true" />

</launch>

进入config文件中创建fake_mbot_arbotix.yaml

controllers: {
   base_controller: {
       type: diff_controller, 
       base_frame_id: base_footprint, 
       base_width: 0.26, 
       ticks_meter: 4100, 
       Kp: 12, 
       Kd: 12, 
       Ki: 0, 
       Ko: 50, 
       accel_limit: 1.0 
    }
}

启动仿真器

roslaunch arbotix_mbot_with_camera_xacro.launch