ROS(URDF机器人建模)

新建功能包mbot_description

在功能包下新建文件config,launch,meshes,urdf。

在launch文件夹下新建文件display_mbot_base_urdf.launch

 <launch>
     <param name = "robot_description" textfile = "$(find mbot_description)/urdf/mbot_base.urdf"/>

     <!-- 设置GUI参数，显示关节控制插件　-->
     <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="state_publisher" />

     <!-- 运行rviz可视化界面　-->
     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
 </launch>

在urdf文件夹中新建文件mbot_base.urdf

 <?xml version="1.0" ?>
 <robot name="mbot">

     <link name="base_link">
         <visual>
             <origin xyz=" 0 0 0" rpy="0 0 0" />
             <geometry>
                 <cylinder length="0.16" radius="0.20"/>
             </geometry>
             <material name="yellow">
                 <color rgba="1 0.4 0 1"/>
             </material>
         </visual>
     </link>

     <joint name="left_wheel_joint" type="continuous">
         <origin xyz="0 0.19 -0.05" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="left_wheel_link"/>
         <axis xyz="0 1 0"/>
     </joint>

     <link name="left_wheel_link">
         <visual>
             <origin xyz="0 0 0" rpy="1.5707 0 0" />
             <geometry>
                 <cylinder radius="0.06" length = "0.025"/>
             </geometry>
             <material name="white">
                 <color rgba="1 1 1 0.9"/>
             </material>
         </visual>
     </link>

     <joint name="right_wheel_joint" type="continuous">
         <origin xyz="0 -0.19 -0.05" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="right_wheel_link"/>
         <axis xyz="0 1 0"/>
     </joint>

     <link name="right_wheel_link">
         <visual>
             <origin xyz="0 0 0" rpy="1.5707 0 0" />
             <geometry>
                 <cylinder radius="0.06" length = "0.025"/>
             </geometry>
             <material name="white">
                 <color rgba="1 1 1 0.9"/>
             </material>
         </visual>
     </link>

     <joint name="front_caster_joint" type="continuous">
         <origin xyz="0.18 0 -0.095" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="front_caster_link"/>
         <axis xyz="0 1 0"/>
     </joint>

     <link name="front_caster_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
                 <sphere radius="0.015" />
             </geometry>
             <material name="black">
                 <color rgba="0 0 0 0.95"/>
             </material>
         </visual>
     </link>

     <joint name="back_caster_joint" type="continuous">
         <origin xyz="-0.18 0 -0.095" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="back_caster_link"/>
         <axis xyz="0 1 0"/>
     </joint>

     <link name="back_caster_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
                 <sphere radius="0.015" />
             </geometry>
             <material name="black">
                 <color rgba="0 0 0 0.95"/>
             </material>
         </visual>
     </link>

     <link name="kinect_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 1.5708"/>
             <geometry>
                 <mesh filename="package://mbot_description/meshes/kinect.dae" />
             </geometry>
         </visual>
     </link>

     <joint name="laser_joint" type="fixed">
         <origin xyz="0.15 0 0.11" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="kinect_link"/>
     </joint>

 </robot>

在meshes文件夹下有文件

通过urdf_to_graphiz命令查看URDF模型结构：

生成PDF