URDF机器人模型ROS1&2案例

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文章标签：

#urdf

本文概述了Windows 10/11环境下ROS（Robot Operating System）机器人模型的URDF建模更新，包括Visual Studio 2019命令提示符的使用，以及从foxy到galactic版本的launch文件差异。重点讲解了如何配置`xacro`、`robot_state_publisher`和`joint_state_publisher`，并展示了不同版本的参数声明和条件语句。

2020版如下：

☞ ROS机器人URDF建模

这里，简单补充一下win10/11版本的。

**********************************************************************
** Visual Studio 2019 Developer Command Prompt v16.9.3
** Copyright (c) 2021 Microsoft Corporation
**********************************************************************

C:\ros_ws>cd urdf_tutorial

C:\ros_ws\urdf_tutorial>colcon build
[2.418s] root DEBUG Using proactor: IocpProactor
Starting >>> urdf_tutorial
Finished <<< urdf_tutorial [5.92s]

Summary: 1 package finished [6.26s]

C:\ros_ws\urdf_tutorial>

galactic：

from ament_index_python.packages import get_package_share_path

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfiguration

from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue

def generate_launch_description():
    urdf_tutorial_path = get_package_share_path('urdf_tutorial')
    default_model_path = urdf_tutorial_path / 'urdf/01-myfirst.urdf'
    default_rviz_config_path = urdf_tutorial_path / 'rviz/urdf.rviz'

    gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
                                    description='Flag to enable joint_state_publisher_gui')
    model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path),
                                      description='Absolute path to robot urdf file')
    rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
                                     description='Absolute path to rviz config file')

    robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
                                       value_type=str)

    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description': robot_description}]
    )

    # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
    joint_state_publisher_node = Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        condition=UnlessCondition(LaunchConfiguration('gui'))
    )

    joint_state_publisher_gui_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        condition=IfCondition(LaunchConfiguration('gui'))
    )

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
    )

    return LaunchDescription([
        gui_arg,
        model_arg,
        rviz_arg,
        joint_state_publisher_node,
        joint_state_publisher_gui_node,
        robot_state_publisher_node,
        rviz_node
    ])

注意和foxy版本差异性！

import launch
from launch.substitutions import Command, LaunchConfiguration
import launch_ros
import os
 
 
def generate_launch_description():
    pkg_share = launch_ros.substitutions.FindPackageShare(package='urdf_tutorial').find('urdf_tutorial')
    default_model_path = os.path.join(pkg_share, 'urdf/01-myfirst.urdf')
    default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf.rviz')
 
    robot_state_publisher_node = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
    )
    joint_state_publisher_node = launch_ros.actions.Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        name='joint_state_publisher',
        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
    )
    joint_state_publisher_gui_node = launch_ros.actions.Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))
    )
    rviz_node = launch_ros.actions.Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
    )
 
    return launch.LaunchDescription([
        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                             description='Flag to enable joint_state_publisher_gui'),
        launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                             description='Absolute path to robot urdf file'),
        launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                             description='Absolute path to rviz config file'),
        joint_state_publisher_node,
        joint_state_publisher_gui_node,
        robot_state_publisher_node,
        rviz_node
    ])

两点提示：

输入：

path = "/Users/krunal/Desktop/code/" print(os.path.join(path, "pyt", "database", "app.py"))

输出：

/Users/krunal/Desktop/code/pyt/database/app.py

SyntaxError

    default_model_path = os.path.join('C:\ros_ws\urdf_tutorial\src', 'urdf\01-myfirst.urdf')                                                                  ^                                                                                 SyntaxError: (unicode error) 'unicodeescape' codec can't decode bytes in position 9-10: truncated \uXXXX escape