Robot Operating System (ROS)学习笔记2---使用smartcar进行仿真
搭建环境：XMWare Ubuntu14.04 ROS（indigo）
转载自古月居 转载连接：http://www.guyuehome.com/248
一、模型完善
文件夹urdf下，创建gazebo.urdf.xacro、smartcar.urdf.xacro、smartcar_body.urdf.xacro三个文件
1、机器人主体smartcar_body.urdf.xacro文件
<?xml version="1.0"?>
<robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro">
<property name="M_PI" value="3.14159"/> <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect -->
<include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/> <property name="base_x" value="0.33" />
<property name="base_y" value="0.33" /> <xacro:macro name="smartcar_body"> <link name="base_link">
<inertial>
<origin xyz="0 0 0.055"/>
<mass value="1.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<box size="0.25 .16 .05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<geometry>
<box size="0.25 .16 .05" />
</geometry>
</collision>
</link> <link name="left_front_wheel">
<inertial>
<origin xyz="0.08 0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
</collision>
</link> <joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="left_front_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint> <link name="right_front_wheel">
<inertial>
<origin xyz="0.08 -0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
</collision>
</link> <joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="right_front_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint> <link name="left_back_wheel">
<inertial>
<origin xyz="-0.08 0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
</collision>
</link> <joint name="left_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="left_back_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint> <link name="right_back_wheel">
<inertial>
<origin xyz="-0.08 -0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
</collision>
</link> <joint name="right_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="right_back_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint> <link name="head">
<inertial>
<origin xyz="0.08 0 0.08"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<geometry>
<box size=".02 .03 .03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0.08 0 0.08"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
</collision>
</link> <joint name="tobox" type="fixed">
<parent link="base_link"/>
<child link="head"/>
<origin xyz="0.08 0 0.08"/>
</joint>
</xacro:macro> </robot>
2、gazebo属性部分gazebo.urdf.xacro
<?xml version="1.0"?> <robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro="http://ros.org/wiki/xacro"
name="smartcar_gazebo"> <!-- ASUS Xtion PRO camera for simulation -->
<!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package -->
<xacro:macro name="smartcar_sim">
<gazebo reference="base_link">
<material>Gazebo/Blue</material>
</gazebo> <gazebo reference="right_front_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo> <gazebo reference="right_back_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo> <gazebo reference="left_front_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo> <gazebo reference="left_back_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo> <gazebo reference="head">
<material>Gazebo/White</material>
</gazebo> </xacro:macro> </robot>
3、主文件smartcar.urdf.xacro
<?xml version="1.0"?> <robot name="smartcar"
xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://ros.org/wiki/xacro"> <include filename="$(find smartcar_description)/urdf/smartcar_body.urdf.xacro" /> <!-- Body of SmartCar, with plates, standoffs and Create (including sim sensors) -->
<smartcar_body/> <smartcar_sim/> </robot>
二、lanuch文件
在launch文件创建smartcar_display.rviz.launch文件（touch smartcar_display.rviz.launch）。（注：最后一行(find smartcar_description)/urdf.vcg"改为(find smartcar_description)/urdf.rviz"）
<launch>
<param name="/use_sim_time" value="false" /> <!-- Load the URDF/Xacro model of our robot -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find smartcar_description)/urdf/smartcar.urdf.xacro'" />
<arg name="gui" default="false" /> <param name="robot_description" command="$(arg urdf_file)" />
<param name="use_gui" value="$(arg gui)"/> <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen"><!--type="driver.py"-->
<rosparam command="delete" param="/arbotix" />
<rosparam file="$(find smartcar_description)/config/smartcar_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node> <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" /> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/urdf.rviz" />
</launch>
三、创建config文件夹
在文件中创建smartcar_arbotix.yaml文件
port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20 controllers: {
# Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
}
四、创建urdf.rviz文件
urdf.rviz文件代码如下：
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Odometry1
Splitter Ratio: 0.652661
Tree Height: 422
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 0.5
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 20
Reference Frame: /odom
Value: true
- Angle Tolerance: 0.05
Class: rviz/Odometry
Color: 221; 200; 14
Enabled: true
Keep: 100
Length: 0.6
Name: Odometry
Position Tolerance: 0.1
Topic: /odom
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 253; 124; 0
Enabled: false
Keep: 100
Length: 0.6
Name: Odometry EKF
Position Tolerance: 0.1
Topic: /odom
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_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
spacer_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spacer_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spacer_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spacer_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_2in_7_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_8in_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_8in_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_8in_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_8in_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_kinect_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
standoff_kinect_1_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
Enabled: true
Global Options:
Background Color: 31; 31; 31
Fixed Frame: /odom
Name: root
Tools:
- Class: rviz/MoveCamera
- Class: rviz/Interact
- Class: rviz/Select
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
Value: true
Views:
Current:
Angle: -1.57
Class: rviz/Orbit
Name: Current View
Near Clip Distance: 0.01
Scale: 178.742
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
X: 0.731489
Y: 0.520369
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 696
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000012d00000235fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000235000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002bf00fffffffb0000000800540069006d00650100000000000004500000000000000000000002890000023500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 972
X: 772
Y: 332
五、仿真测试
首先运行lanuch，既可以看到rviz中的机器人：
roslaunch smartcar_description smartcar_display.rviz.launch
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