1.连杆
<link>
描述机器人某个刚体部分的外观和物理属性;
描述连杆尺寸、颜色、形状、惯性矩阵、碰撞参数;
每一个Link会成为一个坐标。
<link>
<visual>
<geometry>
长什么样
在什么位置
</geometry>
</visual>
<collision>
<collision>
</link>
2.关节
<joint>
描述两个link之间的关系,分为六种类型;
包括关节运动的位置和速度限制;
描述机器人关节的动力学和运动学属性
类型:
- 旋转关节
- 旋转关节有限制
- 滑动关节
- 固定关节
<joint>
</joint>
3.机器人
<robot>
</robot>
4.显示圆柱
<?xml version="1.0"?>
<robot name="F1TENTH">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
</visual>
</link>
</robot>
<launch>
<!-- 设置机器人模型路径参数 -->
<param name="robot_description" textfile="$(find F1TENTH_description)/urdf/F1TENTH.urdf"/>
<!-- 设置GUI参数,显示关节控制器 -->
<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="robot_state_publisher"/>
<!-- 运行rviz可视化界面 -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find F1TENTH_description)/config/F1TENTH_urdf.rviz" required="true"/>
</launch>
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
Splitter Ratio: 0.5
Tree Height: 473
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:="${}">
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
rock@hero:~/catkin_ws/src/F1TENTH_description$ tree . ├── CMakeLists.txt ├── config │ └── F1TENTH_urdf.rviz ├── launch │ └── display_F1TENTH_urdf.launch ├── meshes ├── package.xml └── urdf └── F1TENTH.urdf 4 directories, 5 files rock@hero:~/catkin_ws/src/F1TENTH_description$
5.XACRO
<launch>
<arg name="model" default="$(find xacro)/xacro --inorder '$(find F1TENTH_description)/urdf/F1TENTH.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 F1TENTH_description)/config/F1TENTH.rviz" required="true" />
</launch>
${} 运算(默认都转化为浮点数)
参数
<xacro:property name="height" value"0.2" />
宏定义
<xacro::macro name="QQ" params="A B C">
</xacro::macro>
调用
<QQ A="" B="" C=""/>
文件包含
<xacro:include filename="$(find 功能包)/urdf/XXX.xacro" />
Gazebo添加颜色
<gazebo reference="base_link">
<material>Gazebo/Blue</material>
</gazebo>
为joint添加传动装置
<transmission name="${prefix}_wheel_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_wheel_joint_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
6.ros_control
- ROS为开发者提供的机器人控制中间件
- 包含一系列控制器接口,传动装置接口,硬件接口,控制器工具箱等等
- 可以帮助机器人应用功能包快速落地,提高开发效率
- 速度控制:轮子
- 位置控制:关节
- 力控制
- 自定义控制器
7.Gazebo
1.可视化
2.碰撞检测
3.惯性参数矩阵
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="${base_length}" radius="${base_radius}"/>
</geometry>
<material name="yellow" />
<visual> <actuator name="${prefix}_wheel_joint_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<collision>
<origin xyz="0 0 0 " rqy="0 0 0" />
<geometry>
<cylinder length="${base_length}" radius="${base_radius}"/>
</geometry>
</collision>
<cylinder_inertial_matrial m="${base_mass}" r="${base_radius}" h="${base_length}" />
</link>
关闭底盘投影重力
<gazebo reference="base_footprint">
<turnGravityOff>false</turnGravityOff>
</gazebo>
控制器插件
<gazebo>
<plugin name="differential_driver_controller"
filename="libgazebo_ros_diff_driver.so">
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>true</publishWheelTF>
</plugin>
</gazebo>