机器人介绍
机器人由四部分组成:控制系统(大脑)、传感系统(眼睛)、驱动系统(肌肉)、执行系统(手)。
传感器输入信号,控制系统接受并释放控制命令,驱动将控制命令转化为执行系统能够执行的信号,执行系统执行。
建模
URDF-Unified Robot Description Format-统一机器人格式,ROS可以解析URDF文件中使用XML格式描述的机器人模型。
在URDF文件中机器人的组成部分大概可以被分为两类:joint(关节)、link(刚体)。
link描述某个刚体的外观和物理属性:外观参数:尺寸、颜色、形状。惯性参数:惯性矩阵。碰撞属性:碰撞参数。
joint描述关节的运动学和动力学属性,包括关节的位置和速度限制,可以分为6类:continuous、revolute、prismatic、planar、floating、fixed,它们都有各自的使用范围。尤其是continuous-旋转关节,无限制,轮子和revolute有限制,这两类是经常被用到的。
创建一个机器人建模的功能包-实现一个简单的URDF模型:
catkin_create_pkg mbot_description urdf xacro
机器人名字_description约定俗成的表示机器人的模型文件,两个功能包依赖。
在功能包内不再是放.cpp文件了,全是一些文件夹。创建4个文件夹:urdf(放置机器人的具体模型文件)、meshes(放置机器人的外观纹理文件),建一个launch文件夹来启动,一个config文件夹配置。
(1)在luanch文件夹下写display_mbot_base_urdf.launch用来更方便的启动。
<launch>
<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_base.urdf" />
<!-- 设置GUI参数,显示关节控制插件 -->
<param name="use_gui" value="true"/>
<!-- 运行joint_state_publisher节点,发布机器人的关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- 运行rviz可视化界面 -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>
(2)在urdf文件夹下创建mbot_base.urdf文件(底座的模型)进行建模。
在实验中可以自己调整参数看看有什么变化来促进理解各个参数的意义。
<?xml version="1.0" ?>
<robot name="mbot">
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.16" radius="0.20"/>
</geometry>
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin xyz="0 0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.19 -0.05" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.06" length = "0.025"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.9"/>
</material>
</visual>
</link>
<joint name="front_caster_joint" type="continuous">
<origin xyz="0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
<joint name="back_caster_joint" type="continuous">
<origin xyz="-0.18 0 -0.095" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="back_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.015" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
</visual>
</link>
</robot>
(3)在config文件夹中对rviz配置,创建mbot.rviz配置文件,都是rviz的固定格式,不需要看懂。
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
Splitter Ratio: 0.5
Tree Height: 473
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back_castor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_castor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
back_castor_link:
Value: true
base_footprint:
Value: true
base_link:
Value: true
front_castor_link:
Value: true
left_wheel_link:
Value: true
right_wheel_link:
Value: true
Marker Scale: 0.100000001
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_footprint:
base_link:
back_castor_link:
{}
front_castor_link:
{}
left_wheel_link:
{}
right_wheel_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_footprint
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 0.86167258
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0422003381
Y: -0.00756526971
Z: 0.119616583
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.265398145
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.650397897
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 754
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000268fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000268000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a70000003efc0100000002fb0000000800540069006d00650100000000000004a70000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003370000026800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1191
X: 276
Y: 84
这是最基本的底座模型的创建,总结就是需要底座的urdf文件、rviz的配置文件、加载底座和rviz的launch文件。
去大文件夹下编译catkin_make,再加载路径source ./devel/setuo.bash。
使用launch mbot_description display_mbot_base_urdf.launch启动。
效果如图所示:
如果还要别的刚体或者关节可以自行添加。
比较特殊的是可以使用kinect纹理描述文件,用meshes标签进行加载可以实现还原实物的效果。在meshes文件夹中放置有关kinect的文件,修改urdf文件,将kinect加载到我们的模型中去,路径一定要对。
<link name="kinect_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<geometry>
<mesh filename="package://mbot_description/meshes/kinect.dae" />
</geometry>
</visual>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0.15 0 0.11" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="kinect_link"/>
</joint>
相应的launch文件也要修改路径,效果如图:
这一节只是创建了机器人的外观模型,摄像头都还只是一个空盒子,没有实际意义。主要是urdf文件的使用和launch文件路径要注意,其他的地方就不会出问题。
大功告成!!!