建模实践4 —— 在gazebo中进行简单的仿真

在优化物理仿真模型基础中，已经添加了机器人的碰撞属性和惯性参数，添加了Transmissions、gazebo_ros_control 插件，接下来要做的就是为机器人的控制器编写配置文件。

1.创建控制器

第一步：在husky_kinova/husky_kinova_control/config文件夹下创建控制器的配置文件control.yaml：

joint_state_controller:
  type: "joint_state_controller/JointStateController"
  publish_rate: 50

husky_diff_drive_controller:
  type: "diff_drive_controller/DiffDriveController"
  left_wheel: ['front_left_wheel', 'rear_left_wheel']
  right_wheel: ['front_right_wheel', 'rear_right_wheel']
  publish_rate: 50
  pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
  twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
  cmd_vel_timeout: 0.25
  velocity_rolling_window_size: 2

  # Base frame_id
  base_frame_id: base_link

  # Odometry fused with IMU is published by robot_localization, so
  # no need to publish a TF based on encoders alone.
  enable_odom_tf: false

  # Husky hardware provides wheel velocities
  estimate_velocity_from_position: false

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.875 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 1.0   # m/s
      has_acceleration_limits: true
      max_acceleration       : 3.0   # m/s^2
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 2.0   # rad/s
      has_acceleration_limits: true
      max_acceleration       : 6.0   # rad/s^2

finger_1_position_controller:
  joint: j2n6s300_joint_finger_1
  pid:
    d: 0
    i: 0
    p: 10
  type: effort_controllers/JointPositionController
finger_2_position_controller:
  joint: j2n6s300_joint_finger_2
  pid:
    d: 0
    i: 0
    p: 10
  type: effort_controllers/JointPositionController
finger_3_position_controller:
  joint: j2n6s300_joint_finger_3
  pid:
    d: 0
    i: 0
    p: 10
  type: effort_controllers/JointPositionController
finger_tip_1_position_controller:
  joint: j2n6s300_joint_finger_tip_1
  pid:
    d: 0
    i: 0
    p: 0.5
  type: effort_controllers/JointPositionController
finger_tip_2_position_controller:
  joint: j2n6s300_joint_finger_tip_2
  pid:
    d: 0
    i: 0
    p: 0.5
  type: effort_controllers/JointPositionController
finger_tip_3_position_controller:
  joint: j2n6s300_joint_finger_tip_3
  pid:
    d: 0
    i: 0
    p: 0.5
  type: effort_controllers/JointPositionController
joint_1_position_controller:
  joint: j2n6s300_joint_1
  pid:
    d: 0
    i: 0
    p: 5000
  type: effort_controllers/JointPositionController
joint_2_position_controller:
  joint: j2n6s300_joint_2
  pid:
    d: 0
    i: 0
    p: 5000
  type: effort_controllers/JointPositionController
joint_3_position_controller:
  joint: j2n6s300_joint_3
  pid:
    d: 0
    i