ros仿真小车

蛋蛋~

已于 2023-05-09 16:32:39 修改

阅读量478

点赞数

文章标签： linux ubuntu vim 机器人笔记

于 2023-05-09 16:30:56 首次发布

本文链接：https://blog.youkuaiyun.com/qq_56589253/article/details/130581891

版权

ros仿真小车

补全前面博客中缺少的一些部分关于前面博客中的robotcar
(本文也可单独食用）

创建工作空间并初始化

mkdir -p catkin_ws/src 
~$ cd catkin_ws/
~/catkin_ws$ catkin_init_workspace 
cd ..
catkin_make

创建所需文件夹

cd src
~/catkin_ws$ catkin_create_pkg robotcar rospy roscpp std_msgs
~/catkin_ws$ cd src/robotcar/
~/catkin_ws/src/robotcar$ mkdir launch
~/catkin_ws/src/robotcar$ mkdir urdf
~/catkin_ws/src/robotcar$ mkdir words
~/catkin_ws/src/robotcar$ touch urdf.rviz

sudo vi urdf.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
      Splitter Ratio: 0.5
    Tree Height: 419
  - 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
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_back_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_front_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_back_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_front_wheel:
          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: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Alpha: 1
      Auto Size:
        Auto Size Factor: 1
        Value: true
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/DepthCloud
      Color: 255; 255; 255
      Color Image Topic: ""
      Color Transformer: ""
      Color Transport Hint: raw
      Decay Time: 0
      Depth Map Topic: ""
      Depth Map Transport Hint: raw
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: DepthCloud
      Occlusion Compensation:
        Occlusion Time-Out: 30
        Value: false
      Position Transformer: ""
      Queue Size: 5
      Selectable: true
      Size (Pixels): 3
      Style: Flat Squares
      Topic Filter: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: base_link
    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: 3.6130359172821045
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -0.10787245631217957
        Y: -0.10073208808898926
        Z: -0.018152864649891853
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.5303989052772522
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.6853959560394287
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 889
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000022e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650000000000000004f3000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000077c0000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1916
  X: 0
  Y: 0

添加机器人模型

在urdf文件夹里添加机器人模型

cd urdf
touch mybot.gazebo.xacro
touch myrot.xacro
sudo vi myrot.xacro

<?xml version="1.0"?>  
<robot name="mybot" xmlns:xacro="http://ros.org/wiki/xacro">  

  <xacro:include filename="$(find robotcar)/urdf/mybot.gazebo.xacro" /> 

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">  
    <parent link="base_footprint"/>  
    <child link="base_link"/>  
    <origin rpy="0 0 0" xyz="0 0 0"/>  
  </joint>  
  
  <link name="base_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.001" />
    </inertial>

    <visual>  
      <geometry>  
        <box size="0.25 0.16 0.05"/>  
      </geometry>  
      <origin rpy="0 0 0" xyz="0 0 0"/>  
      <material name="blue">  
          <color rgba="0 0 0.8 1"/>  
      </material>  
    </visual>  

   <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <box size="0.25 0.16 0.05"/>
     </geometry>
   </collision>

  </link>  
 
  <link name="right_wheel_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
    </inertial>

    <visual>  
      <geometry>  
        <cylinder length="0.02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <cylinder length="0.02" radius="0.025"/> 
     </geometry>
    </collision>
  </link>  
 
  <joint name="right_wheel_joint" type="continuous">  
    <axis xyz="0 0 -1"/>  
    <parent link="base_link"/>  
    <child link="right_wheel_link"/>  
    <origin rpy="1.5707 0 0" xyz=" 0.1 -0.09 -0.03"/>  
  </joint>  
 
  <link name="left_wheel_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0.0001"  ixy="0"  ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
    </inertial>

    <visual>  
      <geometry>  
        <cylinder length="0.02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <cylinder length="0.02" radius="0.025"/> 
     </geometry>
    </collision>   
  </link>  
 
  <joint name="left_wheel_joint" type="continuous">  
    <axis xyz="0 0 -1"/>  
    <parent link="base_link"/>  
    <child link="left_wheel_link"/>  
    <origin rpy="1.5707 0 0" xyz="0.1 0.09 -0.03"/>  
  </joint>  
 
  <link name="ball_wheel_link">  
    <inertial>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <mass value="0.1"/>
     <inertia ixx="0"  ixy="0"  ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>

    <visual>  
      <geometry>  
        <sphere radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  

    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <sphere radius="0.025"/> 
     </geometry>
    </collision>   
  </link>  

  <joint name="ball_wheel_joint" type="fixed">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="ball_wheel_link"/>  
    <origin rpy="0 0 0" xyz="-0.10 0 -0.03"/>  
  </joint>  
  <!-- imu sensor -->
  <link name="imu">  
    <visual>  
      <geometry>  
        <box size="0.01 0.01 0.01"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="imu_joint" type="fixed">  
    <parent link="base_link"/>  
    <child link="imu"/>  
    <origin xyz="0.08 0 0.025"/>  
  </joint> 

  <!-- camera -->
  <link name="base_camera_link">  
    <visual>  
      <geometry>  
        <box size="0.02 0.03 0.03"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="camera_link" type="fixed">  
    <parent link="base_link"/>  
    <child link="base_camera_link"/>  
    <origin xyz="0.1 0 0.025"/>  
  </joint> 
  <!-- laser lidar -->
  <link name="base_laser_link">  
    <visual>  
      <geometry>  
        <cylinder length="0.06" radius="0.04"/>   
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  
  
  <joint name="laser_joint" type="fixed">  
    <parent link="base_link"/>  
    <child link="base_laser_link"/>  
    <origin xyz="0 0.0 0.06"/>  
  </joint> 
</robot>

sudo vi touch mybot.gazebo.xacro

<?xml version="1.0"?>
<robot name="mybot" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="laser_visual" default="false"/>
  <xacro:arg name="camera_visual" default="false"/>
  <xacro:arg name="imu_visual"   default="false"/>

  <gazebo reference="base_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="left_wheel_link">
    <mu1>0.5</mu1>
    <mu2>0.5</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="right_wheel_link">
    <mu1>0.5</mu1>
    <mu2>0.5</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="ball_wheel_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>500000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="imu">
    <sensor type="imu" name="imu">
      <always_on>true</always_on>
      <visualize>$(arg imu_visual)</visualize>
    </sensor>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo>
    <plugin name="mybot_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>true</publishOdomTF>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>30</updateRate>
      <leftJoint>left_wheel_joint</leftJoint>
      <rightJoint>right_wheel_joint</rightJoint>
      <wheelSeparation>0.180</wheelSeparation>
      <wheelDiameter>0.05</wheelDiameter>
      <wheelAcceleration>10</wheelAcceleration>
      <wheelTorque>100</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <bodyName>imu</bodyName>  
      <frameName>imu</frameName>
      <topicName>imu</topicName>
      <serviceName>imu_service</serviceName>
      <gaussianNoise>0.0</gaussianNoise>
      <updateRate>0</updateRate>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </plugin>
  </gazebo>

  <gazebo reference="base_laser_link">
    <material>Gazebo/FlatBlack</material>
    <sensor type="ray" name="rplidar_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>
      <update_rate>7</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>0.5</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>


        </scan>
        <range>
          <min>0.120</min>
          <max>24.0</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_rplidar_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>base_laser_link</frameName>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.0</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>

  <!-- stereo camera -->
    <gazebo reference="base_camera_link">  
      <sensor type="multicamera" name="stereocamera">
        <always_on>true</always_on>
        <update_rate>10</update_rate>
        <visualize>false</visualize>
        <camera name="left">
          <pose>0 0 0 0 0 0</pose>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <camera name="right">
          <pose>0 -0.07 0 0 0 0</pose>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>        
        <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
          <cameraName>stereocamera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <cameraName>stereocamera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera_link_optical</frameName>
          <baseline>0.07</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>
        </plugin>
      </sensor>
    </gazebo>
</robot>

worlds文件夹中存放之前建立的世界模型文件（见之前的文章）

launch文件编写

cd launch
vi mybot.launch

<launch>
  <arg name="x_pos" default="0.0"/>
  <arg name="y_pos" default="0.0"/>
  <arg name="z_pos" default="0.0"/>
  <param name="/use_sim_time" value="true" />  
  
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find robotcar)/worlds/wall.world"/> 
  </include>

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find robotcar)/urdf/myrot.xacro" />

  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model myrot.xacro -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node
    name="joint_state_publisher_gui"
    pkg="joint_state_publisher_gui"
    type="joint_state_publisher_gui" />

</launch>

:wq保存并退出

sudo vi world.launch

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find robotcar)/worlds/PeiDianShi.world"/> 
  </include>
</launch>

编译并运行

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch robotcar mybot.launch

就可以看到机器人在环境中的模型了。
请添加图片描述

请添加图片描述