gazebo仿真

好人cc

已于 2023-02-23 10:43:41 修改

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文章标签：机器人

于 2023-02-01 18:14:43 首次发布

本文链接：https://blog.csdn.net/weixin_68063596/article/details/128836068

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1.准备

1.1终端输入

gazebo

1.2获取代码--放在ros工作空间下并编译

git clone https://gitee.com/bingda-robot/bingda_tutorials

1.3获得gazobo模型

git clone https://gitee.com/bingda-robot/gazebo_models.git

1.4安装依赖

sudo apt install ros-melodic-gazebo_ros
sudo apt install ros-$ROS_DISTRO-gazebo-ros
sudo apt install ros-$ROS_DISTRO-gazebo-plugins
sudo apt install ros-$ROS_DISTRO-gazebo-ros-control
sudo apt install ros-$ROS_DISTRO-joint-state-publisher
sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui

2.gazebo使用和world的建立

可以直接添加，也可以绘制，下面介绍一下绘制：

Edit-----Building-Edit然后绘制

laungh启动（指定world-name）

roslaunch bingda_tutorials gazebo_world.launch

3.机器人模型--urdf文件

urdf - ROS Wiki

link//joint

link是本体（部件），joint是连接（关节）

3.1model

   1 <robot name="pr2">
   2   <link> ... </link>
   3   <link> ... </link>
   4   <link> ... </link>
   5 
   6   <joint>  ....  </joint>
   7   <joint>  ....  </joint>
   8   <joint>  ....  </joint>
   9 </robot>

3.2link

   1  <link name="my_link">  //名称
   2    <inertial>   //位置 重量
   3      <origin xyz="0 0 0.5" rpy="0 0 0"/>
   4      <mass value="1"/>
   5      <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
   6    </inertial>
   7 
   8    <visual>  //尺寸 材料 颜色
   9      <origin xyz="0 0 0" rpy="0 0 0" />
  10      <geometry>
  11        <box size="1 1 1" />
  12      </geometry>
  13      <material name="Cyan">
  14        <color rgba="0 1.0 1.0 1.0"/>
  15      </material>
  16    </visual>
  17 
  18    <collision>  //碰撞
  19      <origin xyz="0 0 0" rpy="0 0 0"/>
  20      <geometry>
  21        <cylinder radius="1" length="0.5"/>
  22      </geometry>
  23    </collision>
  24  </link>

3.3joint

 <joint name="my_joint" type="floating">
    <origin xyz="0 0 1" rpy="0 0 3.1416"/>
    <parent link="link1"/>//父link
    <child link="link2"/>//子link

    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />
    <safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
 </joint>

有上下限的运动
revolute — a hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits.
连续的运动  例如电机
continuous — a continuous hinge joint that rotates around the axis and has no upper and lower limits.
滑动
prismatic — a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits.
固定
fixed — this is not really a joint because it cannot move. All degrees of freedom are locked. This type of joint does not require the <axis>, <calibration>, <dynamics>, <limits> or <safety_controller>.
浮动（6自由度）
floating — this joint allows motion for all 6 degrees of freedom.
平面移动
planar — this joint allows motion in a plane perpendicular to the axis.

3.4已经写好的小车urdf

<?xml version="1.0"?>  
<robot name="mybot">  

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed"> 
    <parent link="base_footprint"/> 
    <child link="base_link"/>  
    <origin rpy="0 0 0" xyz="0 0 0"/>  
  </joint>  
  
  <link name="base_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>//0.1公斤
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.001" />//转动惯量
    </inertial>

    <visual>  
      <geometry>  
        <box size="0.25 0.16 0.05"/>  
      </geometry>  
      <origin rpy="0 0 0" xyz="0 0 0"/>  
      <material name="blue">  
          <color rgba="0 0 0.8 1"/>  
      </material>  
    </visual>  

   <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <box size="0.25 0.16 0.05"/>//碰撞属性一般和视觉属性一样
     </geometry>
   </collision>

  </link>  
 
  <link name="right_wheel_link">  //右轮link
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
    </inertial>

    <visual>  
      <geometry>  
        <cylinder length="0.02" radius="0.025"/> //圆柱
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <cylinder length="0.02" radius="0.025"/> 
     </geometry>
    </collision>
  </link>  
 
  <joint name="right_wheel_joint" type="continuous">  //连接右轮
    <axis xyz="0 0 -1"/>  
    <parent link="base_link"/>  
    <child link="right_wheel_link"/>  
    <origin rpy="1.5707 0 0" xyz=" 0.1 -0.09 -0.03"/>  
  </joint>  
 
  <link name="left_wheel_link">  //左轮
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
    </inertial>

    <visual>  
      <geometry>  
        <cylinder length="0.02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <cylinder length="0.02" radius="0.025"/> 
     </geometry>
    </collision>   
  </link>  
 
  <joint name="left_wheel_joint" type="continuous">  //连接左轮
    <axis xyz="0 0 -1"/>  
    <parent link="base_link"/>  
    <child link="left_wheel_link"/>  
    <origin rpy="1.5707 0 0" xyz="0.1 0.09 -0.03"/>  
  </joint>  
 
  <link name="ball_wheel_link"> //万向轮
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0"  ixy="0"  ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>

    <visual>  
      <geometry>  
        <sphere radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <sphere radius="0.025"/> 
     </geometry>
    </collision>   
  </link>  

  <joint name="ball_wheel_joint" type="fixed"> //连接万向轮
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="ball_wheel_link"/>  
    <origin rpy="0 0 0" xyz="-0.10 0 -0.03"/>  
  </joint>  

</robot>

使用命令检查连接

check_urdf mybot.urdf

roslaunch bingda_tutorials display_robot.launch

3.5在gazebo中显示

roslaunch bingda_tutorials gazebo_robot.launch

4.加执行器和传感器--xacro

和模型有关的

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

  <xacro:include filename="$(find bingda_tutorials)/urdf/mybot.gazebo.xacro" /> //和仿真相关的gazebo放在这个文件中，下面代码只与模型有关

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">  
    <parent link="base_footprint"/>  
    <child link="base_link"/>  
    <origin rpy="0 0 0" xyz="0 0 0"/>  
  </joint>  
  
  <link name="base_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.001" />
    </inertial>

    <visual>  
      <geometry>  
        <box size="0.25 0.16 0.05"/>  
      </geometry>  
      <origin rpy="0 0 0" xyz="0 0 0"/>  
      <material name="blue">  
          <color rgba="0 0 0.8 1"/>  
      </material>  
    </visual>  

   <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <box size="0.25 0.16 0.05"/>
     </geometry>
   </collision>

  </link>  
 
  <link name="right_wheel_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
    </inertial>

    <visual>  
      <geometry>  
        <cylinder length="0.02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <cylinder length="0.02" radius="0.025"/> 
     </geometry>
    </collision>
  </link>  
 
  <joint name="right_wheel_joint" type="continuous">  
    <axis xyz="0 0 -1"/>  
    <parent link="base_link"/>  
    <child link="right_wheel_link"/>  
    <origin rpy="1.5707 0 0" xyz=" 0.1 -0.09 -0.03"/>  
  </joint>  
 
  <link name="left_wheel_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
    </inertial>

    <visual>  
      <geometry>  
        <cylinder length="0.02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <cylinder length="0.02" radius="0.025"/> 
     </geometry>
    </collision>   
  </link>  
 
  <joint name="left_wheel_joint" type="continuous">  
    <axis xyz="0 0 -1"/>  
    <parent link="base_link"/>  
    <child link="left_wheel_link"/>  
    <origin rpy="1.5707 0 0" xyz="0.1 0.09 -0.03"/>  
  </joint>  
 
  <link name="ball_wheel_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0"  ixy="0"  ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>

    <visual>  
      <geometry>  
        <sphere radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <sphere radius="0.025"/> 
     </geometry>
    </collision>   
  </link>  

  <joint name="ball_wheel_joint" type="fixed">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="ball_wheel_link"/>  
    <origin rpy="0 0 0" xyz="-0.10 0 -0.03"/>  
  </joint>  
  <!-- imu sensor -->///加imu
  <link name="imu">  
    <visual>  
      <geometry>  
        <box size="0.01 0.01 0.01"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="imu_joint" type="fixed">  
    <parent link="base_link"/>  
    <child link="imu"/>  
    <origin xyz="0.08 0 0.025"/>  
  </joint> 

  <!-- camera -->///加相机
  <link name="base_camera_link">  
    <visual>  
      <geometry>  
        <box size="0.02 0.03 0.03"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="camera_joint" type="fixed">  
    <parent link="base_link"/>  
    <child link="base_camera_link"/>  
    <origin xyz="0.1 0 0.025"/>  
  </joint> 
  <!-- laser lidar -->///加雷达
  <link name="base_laser_link">  
    <visual>  
      <geometry>  
        <cylinder length="0.06" radius="0.04"/>   
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  
  
  <joint name="laser_joint" type="fixed">  
    <parent link="base_link"/>  
    <child link="base_laser_link"/>  
    <origin xyz="0 0.0 0.06"/>  
  </joint> 


</robot>

和仿真有关的：

<?xml version="1.0"?>
<robot name="mybot" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="laser_visual" default="false"/>
  <xacro:arg name="camera_visual" default="false"/>
  <xacro:arg name="imu_visual"   default="false"/>

  <gazebo reference="base_link">
    <material>Gazebo/DarkGrey</material>  //指定base_link的颜色
  </gazebo>

  <gazebo reference="left_wheel_link">//左轮摩擦力，材料等等
    <mu1>0.5</mu1>
    <mu2>0.5</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="right_wheel_link">
    <mu1>0.5</mu1>
    <mu2>0.5</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="ball_wheel_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>500000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="imu">   //imu
    <sensor type="imu" name="imu">
      <always_on>true</always_on>
      <visualize>$(arg imu_visual)</visualize>
    </sensor>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo>
    <plugin name="mybot_controller" filename="libgazebo_ros_diff_drive.so">//差速轮
      <commandTopic>cmd_vel</commandTopic> //接受的速度话题
      <odometryTopic>odom</odometryTopic>  //发布的里程计话题
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>true</publishOdomTF>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>30</updateRate>
      <leftJoint>left_wheel_joint</leftJoint>
      <rightJoint>right_wheel_joint</rightJoint>
      <wheelSeparation>0.180</wheelSeparation>  //轮距
      <wheelDiameter>0.05</wheelDiameter>  //直径
      <wheelAcceleration>10</wheelAcceleration>
      <wheelTorque>100</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <bodyName>imu</bodyName>  
      <frameName>imu</frameName>
      <topicName>imu</topicName>
      <serviceName>imu_service</serviceName>
      <gaussianNoise>0.0</gaussianNoise>
      <updateRate>0</updateRate>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </plugin>
  </gazebo>

  <gazebo reference="base_laser_link">   //雷达
    <material>Gazebo/FlatBlack</material>
    <sensor type="ray" name="rplidar_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>
      <update_rate>7</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>0.5</resolution>
            <min_angle>0.0</min_angle>//最小距离
            <max_angle>6.28319</max_angle>//最大距离
          </horizontal>
        </scan>
        <range>
          <min>0.120</min>
          <max>12.0</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_rplidar_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>base_laser_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

  
  <gazebo reference="base_camera_link">  //相机
    <sensor type="camera" name="csi Camera">
      <always_on>true</always_on>
      <visualize>$(arg camera_visual)</visualize>
      <camera>
          <horizontal_fov>1.085595</horizontal_fov>
          <image>
              <width>640</width>//相机分辨率
              <height>480</height>
              <format>R8G8B8</format>
          </image>
          <clip>
              <near>0.03</near>
              <far>100</far>
          </clip>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>30.0</updateRate>
        <cameraName>/</cameraName>
        <frameName>base_camera_link</frameName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>

</robot>

urdf/XML/Gazebo - ROS Wiki

Gazebo : Tutorial : URDF in Gazebo //gazebo可改参数

Gazebo : Tutorial : Gazebo plugins in ROS //各种传感器模型

启动小车：

roslaunch bingda_tutorials simulation_robot.launch

启动键盘控制小车：

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

启动rqt查看相机图像：

rqt_image_view

启动rviz：

rviz

好人cc

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