博客地址：https://www.cnblogs.com/zylyehuo/

gazebo小车模型创建及键盘操控详见之前的博客

gazebo小车模型（附带仿真环境） - zylyehuo - 博客园

使用键盘控制gazebo小车模型运动 - zylyehuo - 博客园

参考链接

Autolabor-ROS机器人入门课程《ROS理论与实践》

Part 1 : 里程计查看

效果图

step1: 添加需要的文件

src/mycar/config/test.rviz

Panels:

  - Class: rviz/Displays

    Help Height: 78

    Name: Displays

    Property Tree Widget:

      Expanded:

        - /Global Options1

        - /Status1

        - /RobotModel1

        - /TF1

        - /Odometry1

        - /Odometry1/Shape1

      Splitter Ratio: 0.5

    Tree Height: 670

  - Class: rviz/Selection

    Name: Selection

  - Class: rviz/Tool Properties

    Expanded:

      - /2D Pose Estimate1

      - /2D Nav Goal1

      - /Publish Point1

    Name: Tool Properties

    Splitter Ratio: 0.5886790156364441

  - Class: rviz/Views

    Expanded:

      - /Current View1

    Name: Views

    Splitter Ratio: 0.5

  - Class: rviz/Time

    Experimental: false

    Name: Time

    SyncMode: 0

    SyncSource: ""

Preferences:

  PromptSaveOnExit: true

Toolbars:

  toolButtonStyle: 2

Visualization Manager:

  Class: ""

  Displays:

    - Alpha: 0.5

      Cell Size: 1

      Class: rviz/Grid

      Color: 160; 160; 164

      Enabled: true

      Line Style:

        Line Width: 0.029999999329447746

        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_wheel:

          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

        camera:

          Alpha: 1

          Show Axes: false

          Show Trail: false

          Value: true

        front_wheel:

          Alpha: 1

          Show Axes: false

          Show Trail: false

          Value: true

        laser:

          Alpha: 1

          Show Axes: false

          Show Trail: false

          Value: true

        left_wheel:

          Alpha: 1

          Show Axes: false

          Show Trail: false

          Value: true

        right_wheel:

          Alpha: 1

          Show Axes: false

          Show Trail: false

          Value: true

        support:

          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: false

      Frame Timeout: 15

      Frames:

        All Enabled: true

      Marker Scale: 1

      Name: TF

      Show Arrows: true

      Show Axes: true

      Show Names: true

      Tree:

        {}

      Update Interval: 0

      Value: false

    - Angle Tolerance: 0.10000000149011612

      Class: rviz/Odometry

      Covariance:

        Orientation:

          Alpha: 0.5

          Color: 255; 255; 127

          Color Style: Unique

          Frame: Local

          Offset: 1

          Scale: 1

          Value: true

        Position:

          Alpha: 0.30000001192092896

          Color: 204; 51; 204

          Scale: 1

          Value: true

        Value: true

      Enabled: true

      Keep: 10

      Name: Odometry

      Position Tolerance: 0.10000000149011612

      Shape:

        Alpha: 1

        Axes Length: 1

        Axes Radius: 0.10000000149011612

        Color: 255; 25; 0

        Head Length: 0.30000001192092896

        Head Radius: 0.05000000074505806

        Shaft Length: 1

        Shaft Radius: 0.009999999776482582

        Value: Arrow

      Topic: /odom

      Unreliable: false

      Value: true

  Enabled: true

  Global Options:

    Background Color: 48; 48; 48

    Default Light: true

    Fixed Frame: odom

    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

      Theta std deviation: 0.2617993950843811

      Topic: /initialpose

      X std deviation: 0.5

      Y std deviation: 0.5

    - 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: 6.243990898132324

      Enable Stereo Rendering:

        Stereo Eye Separation: 0.05999999865889549

        Stereo Focal Distance: 1

        Swap Stereo Eyes: false

        Value: false

      Focal Point:

        X: -0.6781591773033142

        Y: 0.7335925102233887

        Z: -0.1656564623117447

      Focal Shape Fixed Size: true

      Focal Shape Size: 0.05000000074505806

      Invert Z Axis: false

      Name: Current View

      Near Clip Distance: 0.009999999776482582

      Pitch: 0.3703985810279846

      Target Frame: <Fixed Frame>

      Value: Orbit (rviz)

      Yaw: 0.8403980731964111

    Saved: ~

Window Geometry:

  Displays:

    collapsed: false

  Height: 967

  Hide Left Dock: false

  Hide Right Dock: false

  QMainWindow State: 000000ff00000000fd00000004000000000000015600000329fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000329000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000329fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000329000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000062d0000003efc0100000002fb0000000800540069006d006501000000000000062d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003bc0000032900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000

  Selection:

    collapsed: false

  Time:

    collapsed: false

  Tool Properties:

    collapsed: false

  Views:

    collapsed: false

  Width: 1581

  X: 67

  Y: 27

src/mycar/launch/sensor.launch

<launch>

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find mycar)/config/test.rviz" />

    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />

</launch>

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bash

roslaunch mycar environment.launch

启动rviz

source ./devel/setup.bash

roslaunch mycar sensor.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.3 _turn:=0.5

Part 2 : 雷达仿真

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/laser.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

  <!-- laser -->

  <gazebo reference="laser">

    <sensor type="ray" name="rplidar">

      <pose>0 0 0 0 0 0</pose>

      <visualize>true</visualize>

      <update_rate>5.5</update_rate>

      <ray>

        <scan>

          <horizontal>

            <samples>360</samples>

            <resolution>1</resolution>

            <min_angle>-3</min_angle>

            <max_angle>3</max_angle>

          </horizontal>

        </scan>

        <range>

          <min>0.10</min>

          <max>30.0</max>

          <resolution>0.01</resolution>

        </range>

        <noise>

          <type>gaussian</type>

          <mean>0.0</mean>

          <stddev>0.01</stddev>

        </noise>

      </ray>

      <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">

        <topicName>/scan</topicName>

        <frameName>laser</frameName>

      </plugin>

    </sensor>

  </gazebo>

</robot>

src/mycar/urdf/xacro/car.urdf.xacro

<robot name="car" xmlns:xacro="http://wiki.ros.org/xacro">

    <xacro:include filename="inertial_matrix.xacro" />

    <xacro:include filename="car_base.urdf.xacro" />

    <xacro:include filename="car_camera.urdf.xacro" />

    <xacro:include filename="car_laser.urdf.xacro" />

    <!-- move control  -->

     <xacro:include filename="../gazebo/move.xacro" />

    <!-- laser control  -->

     <xacro:include filename="../gazebo/laser.xacro" />

</robot>

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bash

roslaunch mycar environment.launch

启动rviz

source ./devel/setup.bash

roslaunch mycar sensor.launch

step3: 配置 rviz

Part 3 : 摄像头仿真

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/camera.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

  <gazebo reference="camera">

    <sensor type="camera" name="camera_node">

      <update_rate>30.0</update_rate>

      <camera name="head">

        <horizontal_fov>1.3962634</horizontal_fov>

        <image>

          <width>1280</width>

          <height>720</height>

          <format>R8G8B8</format>

        </image>

        <clip>

          <near>0.02</near>

          <far>300</far>

        </clip>

        <noise>

          <type>gaussian</type>

          <mean>0.0</mean>

          <stddev>0.007</stddev>

        </noise>

      </camera>

      <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">

        <alwaysOn>true</alwaysOn>

        <updateRate>0.0</updateRate>

        <cameraName>/camera</cameraName>

        <imageTopicName>image_raw</imageTopicName>

        <cameraInfoTopicName>camera_info</cameraInfoTopicName>

        <frameName>camera</frameName>

        <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>

src/mycar/urdf/xacro/car.urdf.xacro

<robot name="car" xmlns:xacro="http://wiki.ros.org/xacro">

    <xacro:include filename="inertial_matrix.xacro" />

    <xacro:include filename="car_base.urdf.xacro" />

    <xacro:include filename="car_camera.urdf.xacro" />

    <xacro:include filename="car_laser.urdf.xacro" />

    <!-- move control  -->

     <xacro:include filename="../gazebo/move.xacro" />

    <!-- laser control  -->

     <xacro:include filename="../gazebo/laser.xacro" />

     <!-- camera control  -->

     <xacro:include filename="../gazebo/camera.xacro" />

</robot>

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bash

roslaunch mycar environment.launch

启动rviz

source ./devel/setup.bash

roslaunch mycar sensor.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.3 _turn:=0.5

step3: 配置 rviz

step4: 打开终端，使小车在rviz中旋转

输入以下指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:

  x: 0.0

  y: 0.0

  z: 0.0

angular:

  x: 0.0

  y: 0.0

  z: 0.5"

Part 4 : 深度相机仿真

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/kinect.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

    <gazebo reference="support">

      <sensor type="depth" name="camera">

        <always_on>true</always_on>

        <update_rate>20.0</update_rate>

        <camera>

          <horizontal_fov>${60.0*PI/180.0}</horizontal_fov>

          <image>

            <format>R8G8B8</format>

            <width>640</width>

            <height>480</height>

          </image>

          <clip>

            <near>0.05</near>

            <far>8.0</far>

          </clip>

        </camera>

        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">

          <cameraName>camera</cameraName>

          <alwaysOn>true</alwaysOn>

          <updateRate>10</updateRate>

          <imageTopicName>rgb/image_raw</imageTopicName>

          <depthImageTopicName>depth/image_raw</depthImageTopicName>

          <pointCloudTopicName>depth/points</pointCloudTopicName>

          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>

          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>

          <frameName>support</frameName>

          <baseline>0.1</baseline>

          <distortion_k1>0.0</distortion_k1>

          <distortion_k2>0.0</distortion_k2>

          <distortion_k3>0.0</distortion_k3>

          <distortion_t1>0.0</distortion_t1>

          <distortion_t2>0.0</distortion_t2>

          <pointCloudCutoff>0.4</pointCloudCutoff>

        </plugin>

      </sensor>

    </gazebo>

</robot>

src/mycar/urdf/xacro/car.urdf.xacro

<robot name="car" xmlns:xacro="http://wiki.ros.org/xacro">

    <xacro:include filename="inertial_matrix.xacro" />

    <xacro:include filename="car_base.urdf.xacro" />

    <xacro:include filename="car_camera.urdf.xacro" />

    <xacro:include filename="car_laser.urdf.xacro" />

    <!-- move control  -->

     <xacro:include filename="../gazebo/move.xacro" />

    <!-- laser control  -->

     <xacro:include filename="../gazebo/laser.xacro" />

     <!-- camera control  -->

     <xacro:include filename="../gazebo/camera.xacro" />

     <!-- kinect control  -->

     <xacro:include filename="../gazebo/kinect.xacro" />

</robot>

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bash

roslaunch mycar environment.launch

启动rviz

source ./devel/setup.bash

roslaunch mycar sensor.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.3 _turn:=0.5

step3: 配置 rviz

step4: 打开终端，使小车在rviz中旋转

输入以下指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:

  x: 0.0

  y: 0.0

  z: 0.0

angular:

  x: 0.0

  y: 0.0

  z: 0.5"

Part 5 : 深度相机仿真（点云）

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/kinect.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

    <gazebo reference="support">

      <sensor type="depth" name="camera">

        <always_on>true</always_on>

        <update_rate>20.0</update_rate>

        <camera>

          <horizontal_fov>${60.0*PI/180.0}</horizontal_fov>

          <image>

            <format>R8G8B8</format>

            <width>640</width>

            <height>480</height>

          </image>

          <clip>

            <near>0.05</near>

            <far>8.0</far>

          </clip>

        </camera>

        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">

          <cameraName>camera</cameraName>

          <alwaysOn>true</alwaysOn>

          <updateRate>10</updateRate>

          <imageTopicName>rgb/image_raw</imageTopicName>

          <depthImageTopicName>depth/image_raw</depthImageTopicName>

          <pointCloudTopicName>depth/points</pointCloudTopicName>

          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>

          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>

          <frameName>support_depth</frameName>

          <baseline>0.1</baseline>

          <distortion_k1>0.0</distortion_k1>

          <distortion_k2>0.0</distortion_k2>

          <distortion_k3>0.0</distortion_k3>

          <distortion_t1>0.0</distortion_t1>

          <distortion_t2>0.0</distortion_t2>

          <pointCloudCutoff>0.4</pointCloudCutoff>

        </plugin>

      </sensor>

    </gazebo>

</robot>

src/mycar/launch/sensor.launch

<launch>

    <!-- 添加点云坐标系到kinect连杆坐标系的变换 -->

    <node pkg="tf2_ros" name="static_transform_publisher" type="static_transform_publisher"  args="0 0 0 -1.57 0 -1.57 /support /support_depth" />

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find mycar)/config/test.rviz" />

    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />

</launch>

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bash

roslaunch mycar environment.launch

启动rviz

source ./devel/setup.bash

roslaunch mycar sensor.launch

step3: 配置 rviz

step4: 打开终端，使小车在rviz中旋转

输入以下指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:

  x: 0.0

  y: 0.0

  z: 0.0

angular:

  x: 0.0

  y: 0.0

  z: 0.3"

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