ROS探索总结（六）——使用smartcar进行仿真

转自：https://www.ncnynl.com/archives/201609/843.html

总结：

一、机器人描述文件三个：

　　机器人主体body文件：

　　gazebo属性文件：

　　主文件 smartcar.urdf：

二、启动文件smartcar_display.rviz.launch：启动节点和模拟器。

三、新增smartcar_description/config/smartcar_arbotix.yaml文件：

四、urdf.rviz文件：

cp /opt/ros/indigo/share/urdf_tutorial/rviz/urdf.rviz

1.indigo版本机器人主体文件：smartcar_description/urdf/smartcar_body.urdf.xacro

修改property，为xacro:property
修改include，为xacro:include

<?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_description)/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="" velocity=""/>

    <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="" velocity=""/>

    <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="" velocity=""/>

    <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="" velocity=""/>

    <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 smartcar_description/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>

3.主文件：smartcar_description/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_description)/urdf/smartcar_body.urdf.xacro" />

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

  <smartcar_body/>

  <smartcar_sim/>

</robot>

二、lanuch文件，smartcar_description/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_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="arbotix_driver" 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.rviz" />

</launch>

4.在indigo版本里，新增smartcar_description/config/smartcar_arbotix.yaml文件，内容为：

port: /dev/ttyUSB0

baud:

rate:

sync_write: True

sync_read: True

read_rate:

write_rate:

controllers: {

   #  Pololu motors:  cpr = 0.3888105m travel =  ticks per meter (empirical: )

   base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: , Kp: , Kd: , Ki: , Ko: , accel_limit: 1.0 }

}

5.urdf.rviz文件：(或者自己按照目录找到了copy过来，如果没有就先安装这个包：urdf_tutorial

$ cp /opt/ros/indigo/share/urdf_tutorial/rviz/urdf.rviz

三、仿真测试

首先运行lanuch，既可以看到rviz中的机器人：

roslaunch smartcar_description smartcar_display.rviz.launch

然后在新建终端中运行：

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

运行结果：

ROS探索总结（六）——使用smartcar进行仿真-LMLPHP

如果小车跑不起来，把Global中的fixed frame改成odom，就好了