Ubuntu18.04 LTS Melodic ROS 教程：使用URDF创建一个虚拟机器人模型

Ubuntu18.04 LTS Melodic ROS 教程：使用URDF创建一个虚拟机器人模型

Building a Visual Robot Model with URDF from Scratch

Description: Learn how to build a visual model of a robot that you can view in Rviz

教程描述：学习如何创建一个简单机器人模型方法，并在Rviz中查看

Keywords: URDF
关键词：URDF
Tutorial Level: BEGINNER

教程级别：初学者
创建一个简单模型

1、建立包文件

  $  cd ~/catkin_ws/src/

  $   catkin_create_pkg  myfirst  urdf

2、建立urdf文件

   在myfirst文件夹下建立urdf文件夹，创建描述文件myfirst.urdf，命令如下：   

  $ cd ~/catkin_ws/src/myfirst

  $ mkdir urdf

  $ cd ~/catkin_ws/src/myfirst/urdf

  $ sudo gedit  myfirst.urdf

拷贝如下代码到gedit新建的myfirst.urdf文件里，保存退出编辑。

<?xml version="1.0"?>
<robot name="myfirst">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
    </visual>
  </link>
</robot>

3、建立launch文件

  $ cd ~/catkin_ws/src/myfirst

  $ mkdir launch

  $ cd ~/catkin_ws/src/myfirst/launch

  $ sudo gedit  myfirst.launch

拷贝如下代码到gedit新建的 myfirst.launch文件里，保存退出编辑。

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(find myfirst)/urdf/myfirst.urdf" />
    <param name="use_gui" value="$(arg gui)"/>
    <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" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
</launch>

4、运行launch文件：

$ roslaunch myfirst myfirst.launch model:=urdf/myfirst.urdf

注意：

1，左下菜单add添加RobotModel

2，Fix Frame调整map为base_link

3，可以尝试更改高度和半径，看看效果。

 

uu@uu-HP-EliteBook-6930P-Notebook-PC:~$  cd ~/catkin_ws/src/
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src$ catkin_create_pkg  myfirst  urdf
Created file myfirst/package.xml
Created file myfirst/CMakeLists.txt
Successfully created files in /home/uu/catkin_ws/src/myfirst. Please adjust the values in package.xml.
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src$ cd ~/catkin_ws/src/myfirst

uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst$ mkdir urdf
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst$ cd ~/catkin_ws/src/myfirst/urdf
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst/urdf$ sudo gedit  myfirst.urdf
[sudo] password for uu:

(gedit:5137): IBUS-WARNING **: 11:17:27.738: The owner of /home/uu/.config/ibus/bus is not root!

** (gedit:5137): WARNING **: 11:17:47.158: Set document metadata failed: Setting attribute metadata::gedit-spell-language not supported

** (gedit:5137): WARNING **: 11:17:47.224: Set document metadata failed: Setting attribute metadata::gedit-encoding not supported

** (gedit:5137): WARNING **: 11:17:50.046: Set document metadata failed: Setting attribute metadata::gedit-position not supported

uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst/launch$ cd ~/catkin_ws/src/myfirst/launch
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst/launch$ sudo gedit  myfirst.launch

(gedit:5340): IBUS-WARNING **: 11:41:14.219: The owner of /home/uu/.config/ibus/bus is not root!

** (gedit:5340): WARNING **: 11:41:37.773: Set document metadata failed: Setting attribute metadata::gedit-spell-language not supported

** (gedit:5340): WARNING **: 11:41:37.774: Set document metadata failed: Setting attribute metadata::gedit-encoding not supported

** (gedit:5340): WARNING **: 11:41:40.646: Set document metadata failed: Setting attribute metadata::gedit-position not supported
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst/launch$ roslaunch myfirst myfirst.launch model:=urdf/myfirst.urdf
... logging to /home/uu/.ros/log/80bde492-9d18-11e8-953a-00216a949182/roslaunch-uu-HP-EliteBook-6930P-Notebook-PC-5354.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://uu-HP-EliteBook-6930P-Notebook-PC:44559/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.2
 * /use_gui: False

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [5364]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 80bde492-9d18-11e8-953a-00216a949182
process[rosout-1]: started with pid [5375]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [5378]
process[robot_state_publisher-3]: started with pid [5379]
process[rviz-4]: started with pid [5380]
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
^C[rviz-4] killing on exit
[robot_state_publisher-3] killing on exit
[joint_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src/myfirst/launch$