gazebo 填坑

1.

有些包找不到

rospackage profile

在ros的包中package.xml中添加

  <depend>gazebo_ros</depend>
  <exec_depend>gazebo</exec_depend>
  <export>
    <!-- Other tools can request additional information be placed here -->
    <gazebo_ros gazebo_media_path="${prefix}"/>
    <gazebo_ros gazebo_model_path="${prefix}/models"/>
  </export>

${prefix}代表当前包的路径，这样ros命令打开gazebo之后，gazebo就会自动有包下的models路径，就能添加models下的模型

2.

gazebo ros_control可以用pid控制为轮子模拟弹簧的效果，默认pid控制位置环为0，ros_control在joint type=“revolute”时失效，只在type=“continuous”时有效

3.

多轮差速驱动：

wheel_radius参数 该插件可以直接在urdf 轮子的collision中定义的cylinder读取，也可直接在yaml文件下自己给出，

wheel_separation不给出会导致小车无法转弯，因为轮距默认为0

husky_velocity_controller:
  type: "diff_drive_controller/DiffDriveController"
  left_wheel: ['FrontLeftJoint1','FrontLeftJoint2','BackLeftJoint1','BackLeftJoint2']
  right_wheel: ['FrontRightJoint1','FrontRightJoint2','BackRightJoint1','BackRightJoint2']
  publish_rate: 50
  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  twist_covariance_diagonal: [0.001, 0.001, 0.001, 1000000.0, 1000000.0, 0.03]
  cmd_vel_timeout: 0.25
#wheel_radius
  wheel_separation : 0.629
  k_l: 0.1
  k_r: 0.1

  # Odometry fused with IMU is published by robot_localization, so
  # no need to publish a TF based on encoders alone.
  enable_odom_tf: false

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.5 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 2.0   # m/s
      has_acceleration_limits: true
      max_acceleration       : 20.0   # m/s^2
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 4.0   # rad/s
      has_acceleration_limits: true
      max_acceleration       : 25.0   # rad/s^2

4.

gazebo轮子摩擦力设置对小车转弯抖动有重要影响

it should be possible to set mu to adjust friction in the direction of the y axis and mu2 to adjust friction in the direction of the x axis of the robot (as fdir2 is calculated to be perpendicular to both fdir1 and the contact normal).

My wheel cylinder is spinning around it´s y axis, so setting

<fdir1>0 1 0</fdir1>

也就是 垂直轮子前进方向朝外的方向是mu1摩擦系数的方向 ，轮子的前进方向是mu2摩擦系数的方向，所以转弯出现剧烈抖动甚至翻车的原因是mu1系数过大，需要调小。最终我mu1=0.5，mu2=1转弯时是非常ok的。

5、

在运行gazebo的过程中，出现了 黑屏 和下面的错误：

[gazebo-2] process has died [pid 28003, exit code 255, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver worlds/empty.world __name:=gazebo __log:=/home/exbot/.ros/log/3bd6002c-c882-11e8-8b6c-000c299fff92/gazebo-2.log].
log file: /home/exbot/.ros/log/3bd6002c-c882-11e8-8b6c-000c299fff92/gazebo-2*.log

运行下面的命令即可：

killall gzserver
 
killall gzclient

6、

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" if="$(arg is7dof)"

args="-urdf -model $(arg kinova_robotName) -param robot_description

-J $(arg kinova_robotType)_joint_1 0.0

-J $(arg kinova_robotType)_joint_2 2.9

-J $(arg kinova_robotType)_joint_3 0.0

-J $(arg kinova_robotType)_joint_4 1.3

-J $(arg kinova_robotType)_joint_5 -2.07

-J $(arg kinova_robotType)_joint_6 1.4

-J $(arg kinova_robotType)_joint_7 0.0

-J $(arg kinova_robotType)_joint_finger_1 1.0

-J $(arg kinova_robotType)_joint_finger_2 1.0

-J $(arg kinova_robotType)_joint_finger_3 1.0" />

-J 的意思是在运行前将joint移动到那个位置

7、use_sim_time = true以后如果没有/clock话题中的时钟，ros::time将会卡住，导致rivz无法显示

<param name="use_sim_time" value="true"/>