ros_indigo_smartcar模型

最新推荐文章于 2021-05-28 17:57:18 发布

shuifu1988

最新推荐文章于 2021-05-28 17:57:18 发布

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本文介绍如何使用URDF和.xacro文件为ROS环境中的智能小车创建详细的3D模型。涵盖从安装必要工具到构建URDF模型的全过程，并提供具体的配置文件示例。

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一、smartcar模型
urdf相关工具
1、安装urdf_tutorial，可以使用其中的例子
sudo apt-get install ros-indigo-urdf0tutoeial
2、安装liburdfdom-tools，提供对urdf文件的检查
sudo apt-get install liburdfdom-tools
3、创建package包
cd ~/catkin_ws/src/
catkin_create_pkg smartcar_description std_msgs roscpp rospy urdf
4、然后建立urdf文件
mkdir -p urdf
vim ./urdf/smartcar.urdf

<?xml version="1.0"?>  
<robot name="smartcar">  
  <link name="base_link">  
    <visual>  
      <geometry>  
        <box size="0.25 .16 .05"/>  
    </geometry>  
    <origin rpy="0 0 1.57075" xyz="0 0 0"/>  
    <material name="blue">  
        <color rgba="0 0 .8 1"/>  
    </material>  
    </visual>  
</link>  

<link name="right_front_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </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 0" xyz="0.08 0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="right_back_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </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 0" xyz="0.08 -0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
</joint>  

<link name="left_front_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </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 0" xyz="-0.08 0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="left_back_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </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 0" xyz="-0.08 -0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="head">  
    <visual>  
      <geometry>  
        <box size=".02 .03 .03"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  

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

</robot>

5、然后建立launch文件
mkdir -p launch
vim ./launch/base.urdf.rviz.launch

<launch>     

    <arg name="model" />      

    <arg name="gui" default="False" />     

    <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz"/>

    <param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" />      

    <param name="use_gui" value="$(arg gui)"/>     

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />   

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

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />  

</launch>

6、效果演示
roslaunch smartcar_description base.urdf.rviz.launch gui:=true

7、注意报错
Global Status:Error
Fixed Frame
解决：
将Global Options
Fixed Frame 的map改为base_link

二、smartcar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。
1、创建package包
cd ~/catkin_ws/src/
catkin_create_pkg smartcar std_msgs roscpp rospy urdf
2、然后建立urdf文件
mkdir -p urdf
vim ./urdf/smartcar_body.urdf.xacro

<?xml version="1.0"?>  
<robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro">  
  <xacro:property name="M_PI" value="3.14159"/>    
  <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect -->  
  <xacro:include filename="$(find smartcar)/urdf/gazebo.urdf.xacro"/>  
  <xacro:property name="base_x" value="0.33" />  
  <xacro: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>

vim ./urdf/gazebo.urdf.xacro

<?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>

vim ./urdf/smartcar.urdf.xacro

<?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">  

  <xacro:include filename="$(find smartcar)/urdf/smartcar_body.urdf.xacro" />  

  <!-- Body of SmartCar, with plates, standoffs and Create (including sim sensors) -->  

  <smartcar_body/>  

  <smartcar_sim/>  

</robot>

3、然后建立launch文件
mkdir -p launch
vim ./launch/smartcar_display.rviz.launch

<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)/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="arbotix_driver" output="screen">  
        <rosparam file="$(find smartcar)/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)/urdf.rviz" />  

</launch>

4、然后建立config文件
mkdir -p config
vim ./config/smartcar_arbotix.yaml
cp /opt/ros/indigo/share/urdf_tutorial/rviz/urdf.rviz

port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20

controllers: {
   #  Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
   base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
}

5、演示
roslaunch smartcar smartcar_display.rviz.launch gui:true
清理运行路径
rosmake smartcar –pre-clean
发布一条消息
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}}’
停止
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist ‘{}’

键盘控制：
http://file.ncnynl.com/ros/smartcar_teleop.zip //下载
保持运行之前的smartcar机器人，在rviz中进行显示，然后新建终端，输入如下命令：
rosrun smartcar_teleop teleop.py

参考备注：
http://blog.youkuaiyun.com/qq_16397695/article/details/52846473
www.guyuehome.com