gazebo实例学习-----LRRP_2nd_chapter8仿真失败分析

   在Ubuntu 16.04+ ROS Kinetic环境学习《Learning ROS for Robotics Programming Second Edition》 chapter 8 The Navigation Stack –Robot Setups时候没有办法直接运行作者给出的示例，做了部分修改记录在下文。

===========================================Part one==============================================

1 案例运行命令

roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="`rospack find robot1_description`/urdf/robot1_base_04.xacro"

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

失败消息这里省略，和第九章类似。

2 修改文件

2.1 chapter8_tutorials/launch/gazebo_mapping_robot.launch

注释掉红色行
  <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
      <!--<remap from="scan" to="/robot/laser/scan"/> -->
    <param name="base_link" value="base_footprint"/>
  </node>

2.2 chapter8_tutorials/urdf/robot1_base_04.xacro

修改如下红色

  <!-- Drive controller -->
<gazebo>
  <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
    <updateRate>100.0</updateRate>
    <robotNamespace>/</robotNamespace>
    <leftFrontJoint>base_to_wheel1</leftFrontJoint>
    <rightFrontJoint>base_to_wheel3</rightFrontJoint>
    <leftRearJoint>base_to_wheel2</leftRearJoint>
    <rightRearJoint>base_to_wheel4</rightRearJoint>
    <wheelSeparation>4</wheelSeparation>
    <wheelDiameter>0.1</wheelDiameter>
    <robotBaseFrame>base_footprint</robotBaseFrame> //原来为base_link
    <torque>1</torque>
    <topicName>cmd_vel</topicName>
    <broadcastTF>true</broadcastTF> //原来为0
  </plugin>
</gazebo>

2.3 修改文件chapter7_tutorials/robot1_description/urdf/robot.gazebo

<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
          <topicName>/scan</topicName> //原来为/robot/laser/scan
        <frameName>hokuyo_link</frameName>
</plugin>

3 正常运行输出结果

3.1 rviz和gazebo

如下为rviz图，

如下为gazebo图，

运行成功后执行如下命令保存地图：

rosrun map_server map_saver -f map

===========================================Part2============================

1 运行命令

查看并使用之前保存的地图

roslaunch chapter8_tutorials gazebo_map_robot1.launch model:="`rospack
find chapter8_tutorials`/urdf/robot1_base_04.xacro"

2 修改文件

添加文件chaper8/launch/gazebo_map_robot1.launch

<?xml version="1.0"?>
<launch>
    <param name="/use_sim_time" value="true" />

<!-- start up wg world -->
    <include file="$(find gazebo_ros)/launch/willowgarage_world.launch" />
    <arg name="model" />
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
    
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>

<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
    <param name="publish_frequency" type="double" value="50.0" />
</node>

<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" >
</node>

<node name="map_server" pkg="map_server" type="map_server" args="$(find chapter8_tutorials)/maps/map.yaml" output="screen">
</node>

<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /> //很重要没有无法运行成功，原本书上没有

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find chapter8_tutorials)/launch/mapping.rviz" >
</node>

</launch>

3 运行效果