xacro文件
URDF建模存在的问题:模型冗余、参数不能计算。
URDF进化成xacro模型文件就能解决了,xacro是URDF的进化版本,本质上还是URDF模型,但在管理上发生了很大的变化:精简代码、提供可编程接口。
常量的定义:xacro:property name=“M_PI” value=“3.14159”/
常量的使用:origin xyz=“0 0 0” rpy="${M_PI/2} 0 0"/
数学计算:在${ }内计算
宏定义:xacro:macro name=“name” params=“A B C”
宏调用:name A =“A_value” B=“B_value” C=“C_value”/
文件包含:xacro:include filename=“$(find mbot_description)/yrdf/xacro/mbot_base.xacro”/
优化后的代码:
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- PROPERTY LIST -->
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="base_radius" value="0.20"/>
<xacro:property name="base_length" value="0.16"/>
<xacro:property name="wheel_radius" value="0.06"/>
<xacro:property name="wheel_length" value="0.025"/>
<xacro:property name="wheel_joint_y" value="0.19"/>
<xacro:property name="wheel_joint_z" value="0.05"/>
<xacro:property name="caster_radius" value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
<xacro:property name="caster_joint_x" value="0.18"/>
<!-- Defining the colors used in this robot -->
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
<material name="gray">
<color rgba="0.75 0.75 0.75 1"/>
</material>
<!-- Macro for robot wheel -->
<xacro:macro name="wheel" params="prefix reflect">
<joint name="${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>
<!-- Macro for robot caster -->
<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="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="${base_radius}"/>
</geometry>
<material name="yellow" />
</visual>
</link>
<wheel prefix="left" reflect="-1"/>
<wheel prefix="right" reflect="1"/>
<caster prefix="front" reflect="-1"/>
<caster prefix="back" reflect="1"/>
</xacro:macro>
</robot>
相比于URDF第二排多了一行说明是xacro模型,宏定义在最前面便于修改
还需要一个主文件来调用车体模型,这样可以加更多的东西,更加方便组装。以下的主文件仅调用了上面的mbot_base标签:
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/mbot_base.xacro" />
<mbot_base/>
</robot>
xacro文件不能直接使用(1)通过命令转化成urdf文件:rosrun xacro xacro.py mbot.xacro>mbot.urdf
(2)调用xacro文件解析器(常用),可以添加在launch文件的开头
arg name=“model” default="
(
f
i
n
d
x
a
c
r
o
)
/
x
a
c
r
o
−
−
i
n
o
r
d
e
r
′
(find xacro)/xacro --inorder'
(findxacro)/xacro−−inorder′(find mbot_description)/urdf/xacro/mbot.xacro"/
para name=“robot_description” command="$(arg model)"/
整个的launch文件:
<launch>
<arg name="model" default="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/mbot.xacro'" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(arg model)" />
<!-- 设置GUI参数,显示关节控制插件 -->
<param name="use_gui" value="$(arg gui)"/>
<!-- 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="robot_state_publisher" />
<!-- 运行rviz可视化界面 -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot.rviz" required="true" />
</launch>
有了XACRO模型文件和launch启动文件,在config中有rviz的配置文件就可以在rviz中可视化模型了。
实际效果和URDF文件完全一样,就是在实现复杂模型的时候,xacro文件会更加简洁,但是她不能直接启动,通常是要在launch启动文件中加上xacro文件解析器来完成。(利大于弊)