ROS探索总结（六）——使用smartcar进行仿真

pengpengpang

本篇博客是将两者进行结合，使用smartcar机器人在rviz中进行仿真。 一、模型完善        之前我们使用的都是urdf文件格式的模型，在很多情况下，ROS对urdf文件的支持并不是很好，使用宏定义的.xacro文件兼容性更好，扩展性也更好。所以我们把之前的urdf文件重新整理编写成.xacro文件。 xacro文件主要分为三部分：1、机器人主体[plain] http://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="view plain">view plainhttp://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="copy">copy

• <?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[plain] http://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="view plain">view plainhttp://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="copy">copy

• <?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[cpp] http://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="view plain">view plainhttp://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="copy">copy

• <span style="font-size:14px;"><?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></span>

二、lanuch文件        在launch文件中要启动节点和模拟器。[plain] http://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="view plain">view plainhttp://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="copy">copy

• <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="driver.py" output="screen">
•         <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>
•      <!-- We need a static transforms for the wheels -->
•     <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.vcg" />
• </launch>

三、仿真测试        首先运行lanuch，既可以看到rviz中的机器人：[plain] http://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="view plain">view plainhttp://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="copy">copy

• roslaunch smartcar_description smartcar_display.rviz.launch

                 发布一条动作的消息。[plain] http://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="view plain">view plainhttp://static.blog.csdn.net/scripts/SyntaxHighlighter/styles/images/defa...); background-color: inherit; border: none; padding: 1px; margin: 0px 10px 0px 0px; font-size: 9px; display: inline-block; width: 16px; height: 16px; text-indent: -2000px; background-position: 0% 0%; background-repeat: no-repeat no-repeat;" title="copy">copy

• rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.5, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'

四、节点关系来源：转自古-月的博客