gazebo通过sdf搭建仿真环境和机器人Husky

其他 2021-10-08 23:29:37 阅读次数: 0

具体格式要求可参考：http://sdformat.org/spec?ver=1.6&elem=sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>-11.82075 -19.38429 17.2198 0 -0 0</pose>
      <diffuse>0.7 0.7 0.7 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0.3698 0.4 -0.5</direction>
    </light>
    <model name="ground">
      <static>true</static>
      <link name="link">
        <pose>-6.2343 -8.1302 0 0 -0 0</pose>
        <visual name="visual">
          <cast_shadows>false</cast_shadows>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
           <mesh>
              <uri>model://xxx_3D_visual.dae</uri>
                <scale>1 1 1</scale>
              </mesh>
          </geometry>
        </visual>
        <collision name="collision">
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <mesh>
              <uri>model://xxx_3D_collision.stl</uri>
                <scale>1 1 1</scale>
              </mesh>
          </geometry>
        </collision>
      </link>
    </model>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
  </world>
</sdf>

world文件与机器人model模型属性定义类似，可以引用3D的mesh文件比如.dae .stl等作为visual或者collision，并可以定义物理环境条件等。

Husky官方地址：http://wiki.ros.org/Robots/Husky

这里的Husky模型被缩小了，比原来的机器人小很多，参数不一致！大约1/3

<?xml version='1.0'?>
<sdf version='1.6'>
  <model name='xxx_husky'>
    <link name='base_link'>
      <inertial>
        <mass>3.3855</mass>
        <pose frame=''>-0.085613 -0.00084 0.1 0 -0 0</pose>
        <inertia>
          <ixx>0.22343</ixx>
          <ixy>0</ixy>
          <ixz>0.0275174</ixz>
          <iyy>0.342518</iyy>
          <iyz>0.00023962</iyz>
          <izz>0.21241</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <pose frame=''>0 0 0.02 0 -0 0</pose>
      <gravity>1</gravity>
      <visual name='body'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://husky/meshes/body.dae</uri>
            <scale>0.33 0.33 0.3</scale>
          </mesh>
        </geometry>
      </visual>
      <collision name='collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0.05 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.33 0.16 0.06</size>
          </box>
        </geometry>
      </collision>
    </link>
    <link name='back_left_wheel'>
      <pose frame=''>-0.09 0.1 0.035 0 -0 0</pose>
      <inertial>
        <mass>0.26357</mass>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>0.00246688</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00246688</iyy>
          <iyz>0</iyz>
          <izz>0.00441058</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name='back_left_wheel'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://husky/meshes/wheel.dae</uri>
            <scale>0.3 0.3 0.3</scale>
          </mesh>
        </geometry>
      </visual>
      <collision name='back_left_wheel_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 -1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.055</radius>
            <length>0.03</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.5</mu>
              <mu2>50</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.01</slip1>
              <slip2>0</slip2>
            </ode>           
          </friction>
        </surface>
      </collision>
    </link>
    <link name='back_right_wheel'>
      <pose frame=''>-0.09 -0.1 0.035 0 -0 0</pose>
      <inertial>
        <mass>0.26357</mass>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>0.00246688</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00246688</iyy>
          <iyz>0</iyz>
          <izz>0.00441058</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name='back_right_wheel'>
        <pose frame=''>0 0 0 -3.14159 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://husky/meshes/wheel.dae</uri>
            <scale>0.3 0.3 0.3</scale>
          </mesh>
        </geometry>
      </visual>
      <collision name='back_right_wheel_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 -1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.055</radius>
            <length>0.03</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.5</mu>
              <mu2>50</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.01</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
    </link>
    <link name='front_left_wheel'>
      <pose frame=''>0.09 0.1 0.035 0 -0 0</pose>
      <inertial>
        <mass>0.26357</mass>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>0.00246688</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00246688</iyy>
          <iyz>0</iyz>
          <izz>0.00441058</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name='front_left_wheel'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://husky/meshes/wheel.dae</uri>
            <scale>0.3 0.3 0.3</scale>
          </mesh>
        </geometry>
      </visual>
      <collision name='front_left_wheel_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 -1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.055</radius>
            <length>0.03</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.5</mu>
              <mu2>50</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.01</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
    </link>
    <link name='front_right_wheel'>
      <pose frame=''>0.09 -0.1 0.035 0 -0 0</pose>
      <inertial>
        <mass>0.26357</mass>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>0.00246688</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00246688</iyy>
          <iyz>0</iyz>
          <izz>0.00441058</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name='front_right_wheel'>
        <pose frame=''>0 0 0 -3.14159 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://husky/meshes/wheel.dae</uri>
            <scale>0.3 0.3 0.3</scale>
          </mesh>
        </geometry>
      </visual>
      <collision name='front_right_wheel_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 -1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.055</radius>
            <length>0.03</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.5</mu>
              <mu2>50</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.01</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
    </link>
    <link name='ray_sensor'>
      <pose frame=''>0 0 0.09 0 -0 0</pose>
      <sensor name='head_hokuyo_sensor' type='ray'>
        <visualize>0</visualize>
        <update_rate>10</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>720</samples>
              <resolution>1</resolution>
              <min_angle>-3.14159</min_angle>
              <max_angle>3.14159</max_angle>
            </horizontal>
            <vertical>
              <samples>1</samples>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </vertical>
          </scan>
          <range>
            <min>0.1</min>
            <max>16</max>
            <resolution>0.01</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0</mean>
            <stddev>0.01</stddev>
          </noise>
        </ray>
        <plugin name='gazebo_ros_head_hokuyo_controller' filename='libgazebo_ros_laser.so'>
          <topicName>laser_scan</topicName>
          <frameName>base_link</frameName>
        </plugin>
      </sensor>
      <self_collide>0</self_collide>
      <inertial>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
        <mass>1</mass>
      </inertial>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name='ray_sensor_visual'>
        <pose frame=''>0 0 0 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <uri>model://husky/meshes/eye_vision_camera.dae</uri>
            <scale>0.2 0.2 0.2</scale>
          </mesh>
        </geometry>
      </visual>
      <collision name='ray_sensor_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0.015 0 -0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.01</radius>
            <length>0.03</length>
          </cylinder>
        </geometry>
      </collision>
    </link>
    <joint name='back_left_joint' type='revolute'>
      <parent>base_link</parent>
      <child>back_left_wheel</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.9</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='back_right_joint' type='revolute'>
      <parent>base_link</parent>
      <child>back_right_wheel</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.9</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='front_left_joint' type='revolute'>
      <parent>base_link</parent>
      <child>front_left_wheel</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.9</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='front_right_joint' type='revolute'>
      <parent>base_link</parent>
      <child>front_right_wheel</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.9</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='ray_sensor_joint' type='fixed'>
      <parent>base_link</parent>
      <child>ray_sensor</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <static>0</static>
    <allow_auto_disable>1</allow_auto_disable>
    <plugin name='husky_diff_controller' filename='libhusky_gazebo_plugins.so'>
      <alwaysOn>1</alwaysOn>
      <updateRate>50.0</updateRate>
      <backLeftJoint>back_left_joint</backLeftJoint>
      <backRightJoint>back_right_joint</backRightJoint>
      <frontLeftJoint>front_left_joint</frontLeftJoint>
      <frontRightJoint>front_right_joint</frontRightJoint>
      <wheelSeparation>0.2</wheelSeparation>
      <wheelDiameter>0.11</wheelDiameter>
      <torque>5</torque>
    </plugin>
    <plugin name='p3d_base_controller' filename='libgazebo_ros_p3d.so'>
      <alwaysOn>1</alwaysOn>
      <updateRate>50.0</updateRate>
      <bodyName>base_link</bodyName>
      <topicName>base_pose_ground_truth</topicName>
      <gaussianNoise>0</gaussianNoise>
      <frameName>map</frameName>
      <xyzOffsets>0 0 0</xyzOffsets>
      <rpyOffsets>0 0 0</rpyOffsets>
    </plugin>
  </model>
</sdf>

model.sdf文件一般保存到.gazebo/models/中。

可以在gazeb中使用model editor进行编辑和查看

如何启动world文件：rosrun gazebo_ros gazebo xxx.world

然后加载机器人模型！

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