gazebo 机器人仿真

其他 2019-01-16 10:00:57 阅读次数: 0

1. 机器人的启动文件

1.1. 整体叙述

<?xml version="1.0"?>
<launch>

  <arg name="world" default="robocup_at_work_2012"/>
  <arg name="init_pos_x" default="0.0"/>
  <arg name="init_pos_y" default="0.0"/>
  <arg name="init_pos_z" default="0.0"/>

  <!-- launch world -->
  <!--<include file="$(find youbot_gazebo_worlds)/launch/$(arg world).launch" />-->
  <include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>

  <param name="robot_description" command="$(find xacro)/xacro.py $(find youbot_description)/robots/youbot_base_only.urdf.xacro" />

  <node pkg="gazebo_ros" type="spawn_model" name="spawn_robot" respawn="false" output="screen"
    args="-param robot_description
          -urdf
          -x $(arg init_pos_x)
          -y $(arg init_pos_y)
          -z $(arg init_pos_z)
          -model youbot">
  </node>

  <!-- launch joint state controller -->
  <include file="$(find youbot_gazebo_control)/launch/joint_state_controller.launch" />
  
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

</launch>

1.2. 具体解释

1. 启动一个gazebo场景

 首先是把ros自带的gazebo_ros包的启动文件加载进来, 并启动里面的节点

  •   <include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>

2. 加载机器人的描述文件

 然后解码xacro

  •   <param name="robot_description" command="$(find xacro)/xacro.py $(find youbot_description)/robots/youbot_base_only.urdf.xacro" />
     

 然后启动一个urdf转换节点:

  <node pkg="gazebo_ros" type="spawn_model" name="spawn_robot" respawn="false" output="screen"
    args="-param robot_description
          -urdf
          -x $(arg init_pos_x)
          -y $(arg init_pos_y)
          -z $(arg init_pos_z)
          -model youbot">
  </node>

3. 启动joint state 控制

  •   <include file="$(find youbot_gazebo_control)/launch/joint_state_controller.launch" />

4. 机器人状态发布

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

2. 每个文件的内容分析

2.1 启动一个gazebo场景

  •   <include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>

具体内容：

<launch>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="worlds/willowgarage.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/> <!-- Inert - see gazebo_ros_pkgs issue #491 -->
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>

</launch>

2.2  加载机器人的描述文件

 1. 然后解码xacro

<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro"
       name="youbot" >
  
  <!-- The following xacro:included files set up definitions of parts of the robot body -->
  <!-- misc common stuff? -->
  <xacro:include filename="$(find youbot_description)/urdf/common.xacro" />
  
  <!-- youbot base -->
  <xacro:include filename="$(find youbot_description)/urdf/youbot_base/base.urdf.xacro" />
 
  <!-- controller manager -->
  <xacro:include filename="$(find youbot_description)/controller/ros_controller.urdf.xacro" />
  
  <!-- materials for visualization -->
  <xacro:include filename="$(find youbot_description)/urdf/materials.urdf.xacro" />


  <!-- sensors -->
  <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg30_laser.urdf.xacro"/>
  <xacro:youbot_base name="base"/>
  <xacro:hokuyo_urg30_laser name="base_laser_front" parent="base" ros_topic="base_scan" update_rate="40" min_angle="-2.36" max_angle="2.36">
    <origin xyz="0.3 0 0.1" rpy="0 0 0"/>
  </xacro:hokuyo_urg30_laser>

<!--    <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg04_laser.urdf.xacro"/>
    <xacro:youbot_base name="base"/>
    <xacro:hokuyo_urg04_laser name="base_laser_front" parent="base" ros_topic="base_scan" update_rate="10" min_angle="-1.37" max_angle="1.37">
      <origin xyz="0.3 0 -0.03" rpy="0 0 0"/>
    </xacro:hokuyo_urg04_laser>-->

</robot>

2. 解释：

1.1  确定xml版本  和机器人 的一些信息  ，  没用

<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro"
       name="youbot" >

1.2 xacro：包含文件设置机器人部件的定义 

通用的配置参数：

  •  <xacro:include filename="$(find youbot_description)/urdf/common.xacro" />
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

	<xacro:property name="M_PI" value="3.1415926535897931" />

	<!-- Casters -->
	<xacro:property name="cal_caster_fl" value="0.0" />
	<xacro:property name="cal_caster_fr" value="0.0" />
	<xacro:property name="cal_caster_bl" value="0.0" />
	<xacro:property name="cal_caster_br" value="0.0" />

</robot>

机器人的一些基本配置文件

  •   <xacro:include filename="$(find youbot_description)/urdf/youbot_base/base.urdf.xacro" />
<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" 
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 
       xmlns:xacro="http://ros.org/wiki/xacro">
 
  <!-- sensors -->
  <xacro:include filename="$(find youbot_description)/urdf/youbot_base/base.gazebo.xacro"/>
  <xacro:include filename="$(find youbot_description)/urdf/youbot_base/base.transmission.xacro"/>
  
  <!-- simplified box collision geometry for base -->
  <xacro:property name="base_size_x" value="0.570"/>
  <xacro:property name="base_size_y" value="0.360"/>
  <xacro:property name="base_size_z" value="0.100"/>
  <xacro:property name="base_mass" value="22.0"/>

  <xacro:property name="caster_offset_x" value="0.228"/>
  <xacro:property name="caster_offset_y" value="0.158"/>
  <xacro:property name="caster_offset_z" value="-0.034"/>
  <xacro:property name="caster_mass" value="0.1"/>

  <xacro:property name="wheel_offset_x" value="0.0"/>
  <xacro:property name="wheel_offset_y" value="0.0"/>
  <xacro:property name="wheel_offset_z" value="0.0"/>

  <xacro:property name="wheel_mass" value="0.4"/>
  <xacro:property name="wheel_radius" value="0.05"/>
  <xacro:property name="wheel_length" value="0.005"/>

  <xacro:property name="caster_joint_damping" value="1.0"/>
  <xacro:property name="caster_joint_friction" value="1.0"/>
  <xacro:property name="caster_joint_effort" value="30"/>
  <xacro:property name="caster_joint_velocity" value="10"/>
  <xacro:property name="caster_joint_safety_k_velocity" value="10.0"/>

  <xacro:property name="wheel_joint_damping" value="1.0"/>
  <xacro:property name="wheel_joint_friction" value="1.0"/>
  <xacro:property name="wheel_joint_effort" value="30"/>
  <xacro:property name="wheel_joint_velocity" value="10"/>
  <xacro:property name="wheel_joint_safety_k_velocity" value="10.0"/>


  <xacro:macro name="youbot_base" params="name">
    <link name="${name}_footprint">
      <inertial>
        <mass value="0.1"/>
        <origin xyz="0 0 ${-base_size_z / 2.0}" rpy="0 0 0"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.001 0.001 0.001"/>
        </geometry>
        <material name="Red"/>
      </visual>
      <collision>
        <origin xyz="0 0 ${-base_size_z / 2.0}" rpy="0 0 0"/>
        <geometry>
          <box size="0.001 0.001 0.001"/>
        </geometry>
      </collision>
    </link>
    <joint name="${name}_footprint_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <child link="${name}_link"/>
      <parent link="${name}_footprint"/>
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="${base_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://youbot_description/meshes/youbot_base/base.dae"/>
        </geometry>
        <material name="DarkGrey"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <!--<box size="${base_size_x} ${base_size_y} ${base_size_z}" />-->
          <mesh filename="package://youbot_description/meshes/youbot_base/base_convex.dae"/>
        </geometry>
      </collision>
    </link>

    <!-- front left wheel -->
    <joint name="caster_joint_fl" type="continuous">
      <origin xyz="${caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0"/>
      <axis xyz="0 0 1"/>
      <limit effort="${caster_joint_effort}" velocity="${caster_joint_velocity}"/>
      <dynamics damping="${caster_joint_damping}" friction="${caster_joint_friction}"/>
      <safety_controller k_velocity="${caster_joint_safety_k_velocity}"/>
      <parent link="${name}_link"/>
      <child link="caster_link_fl"/>
    </joint>
    <link name="caster_link_fl">
      <inertial>
        <mass value="${caster_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
    </link>

    <joint name="wheel_joint_fl" type="continuous">
      <axis xyz="0 1 0"/>
      <limit effort="${wheel_joint_effort}" velocity="${wheel_joint_velocity}"/>
      <origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
      <parent link="caster_link_fl"/>
      <dynamics damping="${wheel_joint_damping}" friction="${wheel_joint_friction}"/>
      <safety_controller k_velocity="${wheel_joint_safety_k_velocity}"/>
      <child link="wheel_link_fl"/>
    </joint>
    <link name="wheel_link_fl">
      <inertial>
        <mass value="${wheel_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <!--<mesh filename="package://youbot_description/meshes/youbot_base/youbot_wheel.stl" />-->
        <geometry>
          <sphere radius="${wheel_radius}"/>
        </geometry>
        <material name="Orange"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_radius}"/>
        </geometry>
      </collision>
    </link>

    <!-- front right wheel -->
    <joint name="caster_joint_fr" type="continuous">
      <origin xyz="${caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0"/>
      <axis xyz="0 0 1"/>
      <limit effort="${caster_joint_effort}" velocity="${caster_joint_velocity}"/>
      <dynamics damping="${caster_joint_damping}" friction="${caster_joint_friction}"/>
      <safety_controller k_velocity="${caster_joint_safety_k_velocity}"/>
      <parent link="${name}_link"/>
      <child link="caster_link_fr"/>
    </joint>
    <link name="caster_link_fr">
      <inertial>
        <mass value="${caster_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
    </link>

    <joint name="wheel_joint_fr" type="continuous">
      <axis xyz="0 1 0"/>
      <limit effort="${wheel_joint_effort}" velocity="${wheel_joint_velocity}"/>
      <dynamics damping="${wheel_joint_damping}" friction="${wheel_joint_friction}"/>
      <safety_controller k_velocity="${wheel_joint_safety_k_velocity}"/>
      <origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
      <parent link="caster_link_fr"/>
      <child link="wheel_link_fr"/>
    </joint>
    <link name="wheel_link_fr">
      <inertial>
        <mass value="${wheel_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <!--<mesh filename="package://youbot_description/meshes/youbot_base/youbot_wheel.stl" />-->
          <sphere radius="${wheel_radius}"/>
        </geometry>
        <material name="Orange"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_radius}"/>
        </geometry>
      </collision>
    </link>

    <!-- back left wheel -->
    <joint name="caster_joint_bl" type="continuous">
      <origin xyz="${-caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0"/>
      <axis xyz="0 0 1"/>
      <limit effort="${caster_joint_effort}" velocity="${caster_joint_velocity}"/>
      <dynamics damping="${caster_joint_damping}" friction="${caster_joint_friction}"/>
      <safety_controller k_velocity="${caster_joint_safety_k_velocity}"/>
      <parent link="${name}_link"/>
      <child link="caster_link_bl"/>
    </joint>
    <link name="caster_link_bl">
      <inertial>
        <mass value="${caster_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
    </link>

    <joint name="wheel_joint_bl" type="continuous">
      <axis xyz="0 1 0"/>
      <limit effort="10" velocity="10"/>
      <limit effort="${wheel_joint_effort}" velocity="${wheel_joint_velocity}"/>
      <dynamics damping="${wheel_joint_damping}" friction="${wheel_joint_friction}"/>
      <safety_controller k_velocity="${wheel_joint_safety_k_velocity}"/>
      <origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
      <parent link="caster_link_bl"/>
      <child link="wheel_link_bl"/>
    </joint>
    <link name="wheel_link_bl">
      <inertial>
        <mass value="${wheel_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <!--<mesh filename="package://youbot_description/meshes/youbot_base/youbot_wheel.stl" />-->
          <sphere radius="${wheel_radius}"/>
        </geometry>
        <material name="Orange"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_radius}"/>
        </geometry>
      </collision>
    </link>

    <!-- back right wheel -->
    <joint name="caster_joint_br" type="continuous">
      <origin xyz="${-caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0"/>
      <axis xyz="0 0 1"/>
      <limit effort="${caster_joint_effort}" velocity="${caster_joint_velocity}"/>
      <dynamics damping="${caster_joint_damping}" friction="${caster_joint_friction}"/>
      <safety_controller k_velocity="${caster_joint_safety_k_velocity}"/>
      <parent link="${name}_link"/>
      <child link="caster_link_br"/>
    </joint>
    <link name="caster_link_br">
      <inertial>
        <mass value="${caster_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
    </link>

    <joint name="wheel_joint_br" type="continuous">
      <axis xyz="0 1 0"/>
      <limit effort="${wheel_joint_effort}" velocity="${wheel_joint_velocity}"/>
      <dynamics damping="${wheel_joint_damping}" friction="${wheel_joint_friction}"/>
      <safety_controller k_velocity="${wheel_joint_safety_k_velocity}"/>
      <origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
      <parent link="caster_link_br"/>
      <child link="wheel_link_br"/>
    </joint>
    <link name="wheel_link_br">
      <inertial>
        <mass value="${wheel_mass}"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <!--<mesh filename="package://youbot_description/meshes/youbot_base/youbot_wheel.stl" />-->
          <sphere radius="${wheel_radius}"/>
        </geometry>
        <material name="Orange"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_radius}"/>
        </geometry>
      </collision>
    </link>

    <!-- extensions -->
    <xacro:youbot_base_gazebo/>
    <xacro:youbot_base_transmission/>

  </xacro:macro>
</robot>

控制管理  controller manager

<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

  <gazebo>
    <plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so" />
  </gazebo>

</robot>

可视化材料  materials for visualization

<?xml version="1.0"?>
<robot>
  <material name="Orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="DarkGrey">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="Red">
    <color rgba="1.0 0.0 0.0 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 1.0 0.0 1.0"/>
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="LightGrey">
    <color rgba="0.82 0.82 0.82 1.0"/>
  </material>
</robot>

启动传感器

30 米   or   10 米

  <!-- sensors -->
  <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg30_laser.urdf.xacro"/>
  <xacro:youbot_base name="base"/>
  <xacro:hokuyo_urg30_laser name="base_laser_front" parent="base" ros_topic="base_scan" update_rate="40" min_angle="-2.36" max_angle="2.36">
    <origin xyz="0.3 0 0.1" rpy="0 0 0"/>
  </xacro:hokuyo_urg30_laser>
  •   <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg30_laser.urdf.xacro"/>
<?xml version="1.0"?>

<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg30_laser.gazebo.xacro" />

  <xacro:macro name="hokuyo_urg30_laser" params="name parent *origin ros_topic update_rate min_angle max_angle">
    <joint name="${name}_hokuyo_urg30_laser_joint" type="fixed">
      <axis xyz="0 1 0" />
      <xacro:insert_block name="origin" />
      <parent link="${parent}_link"/>
      <child link="${name}_link"/>
    </joint>
    <link name="${name}_link" type="laser">
      <inertial>
        <mass value="0.16" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
      </inertial>
      <visual>
      	<origin xyz="0 0 0" rpy="0 0 0" />
	<geometry>
		<mesh filename="package://youbot_description/meshes/sensors/hokuyo.dae" />
	</geometry>
	<material name="DarkGrey" />
      </visual>
			
      <collision>
		<origin xyz="0 0 0" rpy="0 0 0" />
		<geometry>
			<mesh filename="package://youbot_description/meshes/sensors/hokuyo_convex.dae" />

		</geometry>
	</collision>
    </link>
    <!-- gazebo extensions -->
    <xacro:hokuyo_urg30_laser_gazebo name="${name}" ros_topic="${ros_topic}" update_rate="${update_rate}" min_angle="${min_angle}" max_angle="${max_angle}" />
  </xacro:macro>
</robot>
  •   <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg30_laser.gazebo.xacro" />
<?xml version="1.0"?>

<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="hokuyo_urg30_laser_gazebo" params="name ros_topic update_rate min_angle max_angle">
    <gazebo reference="${name}_link">
      <sensor name="${name}" type="ray">
                <always_on>true</always_on>
        <update_rate>${update_rate}</update_rate>
                <pose>0 0 0 0 0 0</pose>
                <visualize>false</visualize>
        <ray>
            <scan>
                <horizontal>
                    <samples>1080</samples>
                    <resolution>0.25</resolution>
                    <min_angle>${min_angle}</min_angle>
                    <max_angle>${max_angle}</max_angle>
                </horizontal>
            </scan>
            <range>
                    <min>0.10</min>
                    <max>30.0</max>
                    <resolution>0.01</resolution>
            </range>

           <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.03</stddev>
            </noise>

        </ray>

        <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>true</alwaysOn>
            <updateRate>${update_rate}</updateRate>
            <topicName>${ros_topic}</topicName>
            <frameName>/${name}_link</frameName>
         </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>

</robot>

2.3 启动joint state 控制

  •   <include file="$(find youbot_gazebo_control)/launch/joint_state_controller.launch" />
<?xml version="1.0"?>
<launch>

  <rosparam file="$(find youbot_gazebo_control)/config/joint_state_controller.yaml" command="load"/> 

  <node pkg="controller_manager" type="spawner" name="joint_state_controller_spawner" args="joint_state_controller" respawn="false" output="screen" />

</launch>

猜你喜欢

转载自blog.csdn.net/xiaoma_bk/article/details/85197342
今日推荐
《美国对全球网络空间安全与发展的威胁和破坏》报告发布
火速冲上 GitHub 热榜 —— 开源编程语言、框架哪有这么可爱？
北京人形机器人创新中心发布全球首个纯电驱拟人奔跑的全尺寸人形机器人“天工”
LFOSSA 源来如此公开课 | 掌握云原生未来：CNCF 认证全面攻略与备考秘籍
周排行
让自己的头脑极度开放
CentOS 6.5(x64) 和Redhat6.5操作系误删libc
高可用注册中心
【日记】12.28/【题解】AtCoder AGC041
XML（5）_XML 约束_DTD
Java集合Map（四）
树梅派安装桌面环境教程
pipenv 的 使用和安装
小程序白屏问题和内存研究
C语言简单选择排序
每日归档
更多
2024-05-02(0)
2024-05-01(4)
2024-04-30(1)
2024-04-29(40)
2024-04-28(0)
2024-04-27(56)
2024-04-26(39)
2024-04-25(22)
2024-04-24(36)
2024-04-23(26)

代码天地 © 2018 codetd.com

境外服务器   最新电视剧2022