Robot simulation-Arbotix+rviz
table of Contents
1. Introduction to Arbotix
- A hardware control board for controlling motors and steering gears;
- Provide the corresponding ROS function package;
- A differential speed controller is provided to update the odometer status of the robot by receiving speed control commands.
Two, Arbotix installation
instruction
cd ~/catkin_ws/src
sudo git clone git://github.com/vanadiumlabs/arbotix_ros.git
Back to the workspace to compile
cd ~/catkin_ws
catkin_make
An error occurs during compilation, as shown in the figure
Query error
/home/zxw/catkin_ws/src/learning_communication/src/listener.cpp:4:28: error: ‘std_mmsgs’ does not name a type void chatterCallback(const std_mmsgs::String::ConstPtr& msg)
Error:'std_mmsgs' does not specify a type
const std_mmsgs::String:: consttr&msg does not specify a type
Enter the file directory according to the error prompt to modify and
re-run the command compilation, and
after the result is resolved, the compilation can be successful.
In fact, I don't know that there will be more than one m. Generally, there will be a corresponding position in the error message, and it is enough to modify the error message.
Three, the corresponding configuration
Configure the launch-urdf file
cd ~/catkin_ws/src/mbot_description/urdf
mkdir xacro
cd xacro
sudo gedit mbot_with_camera.xacro
Paste the following code into the text
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="base_radius" value="0.20"/>
<xacro:property name="base_length" value="0.16"/>
<xacro:property name="wheel_radius" value="0.06"/>
<xacro:property name="wheel_length" value="0.025"/>
<xacro:property name="wheel_joint_y" value="0.19"/>
<xacro:property name="wheel_joint_z" value="0.05"/>
<xacro:property name="caster_radius" value="0.015"/>
<xacro:property name="caster_joint_x" value="0.18"/>
<xacro:property name="camera_joint_x" value="0.17"/>
<xacro:property name="camera_joint_z" value="0.10"/>
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
<material name="gray">
<color rgba="0.75 0.75 0.75 1"/>
</material>
<xacro:macro name="wheel" params="prefix reflect">
<joint name="${prefix}_wheel_joint" type="fixed">
<origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="${prefix}_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${prefix}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
</geometry>
<material name="gray" />
</visual>
</link>
</xacro:macro>
<xacro:macro name="caster" params="prefix reflect">
<joint name="${prefix}_caster_joint" type="fixed">
<origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="${prefix}_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${prefix}_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${caster_radius}" />
</geometry>
<material name="black" />
</visual>
</link>
</xacro:macro>
<xacro:macro name="camera" params="prefix reflect">
<joint name="camera_joint" type="fixed">
<origin xyz="${camera_joint_x} 0 ${camera_joint_z}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.03 0.04 0.04" />
</geometry>
<material name="black"/>
</visual>
</link>
</xacro:macro>
<!--定义主体base -->
<xacro:macro name="mbot_base">
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="${base_length}" radius="${base_radius}"/>
</geometry>
<material name="yellow" />
</visual>
</link>
<wheel prefix="left" reflect="-1"/>
<wheel prefix="right" reflect="1"/>
<caster prefix="front" reflect="-1"/>
<caster prefix="back" reflect="1"/>
<camera/>
</xacro:macro>
</robot>
instruction
sudo gedit mbot.xacro
Same as above
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/mbot_base.xacro" />
<mbot_base/>
</robot>
instruction
cd ~/catkin_ws/src/mbot_description/launch/xacro
sudo gedit arbotix_mbot_with_camera_xacro.launch
Same as above
<launch>
<arg name="model" default="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/mbot.xacro'" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
<rosparam file="$(find mbot_description)/config/fake_mbot_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_arbotix.rviz" required="true" />
</launch>
Configure controller parameters
cd ~/catkin_ws/src/mbot_description/config
sudo gedit fake_mbot_arbotix.yaml
document content
controllers: {
base_controller: {
type: diff_controller,
base_frame_id: base_footprint,
base_width: 0.26,
ticks_meter: 4100,
Kp: 12,
Kd: 12,
Ki: 0,
Ko: 50,
accel_limit: 1.0
}
}
Four, simulation demonstration
Start the simulation
roslaunch mbot_description arbotix_mbot_with_camera_xacro.launch
Set according to the figure to
start the control node
roslaunch mbot_teleop mbot_teleop.launch
If an error message appears, the solution is as follows:
execute the command
export |grep ROS
Download the corresponding feature pack
https://gitee.com/harrietlh/mbot_teleop/tree/master/mbot_teleop .
The downloaded file into the ~ /catkin_ws/srcdirectory, in ~/catkin_wsthe nextcatkin_make
- The corresponding software package is not installed, check if there is a corresponding software package in your src folder
- You can use the tab key to automatically complete the package name when you enter the package name and launch file name incorrectly.
- There is a problem with the environment variable setting. Have you executed it before executing roslaunch
source/opt/ros/kinetic/setup.bash(take the kinetic version as an example) and source your workspace. If it is~/.bashrcto change the environment variable by modifying the file. The corresponding modification will not take effect until a command line window is reopened. You can use roscd your package to test whether there is a problem with the environment variables. If it is normal, then you should be able to access your own software package in this way. - Not a valid ROS package such as a ROS package written by myself, but no
CMakeLists.txtfiles andpackage.xmlfiles are added
链接里面的网站还需要注册，挺麻烦的，这里有我弄好的，分享到网盘，有需要的可以自行下载
https://pan.baidu.com/s/1UXRAX34wDkNYaqPQjVBhjg .
Extraction code:a98g
Compile again to view the result, the instruction is like a red box
The error is resolved.
Demonstration effect
Five, summary and reference materials
1. Summary
Arbotix is a very important entry-level simulation simulator. We can implement navigation and positioning on arbotix and realize basic functions in the simulation environment.
2. Reference materials
Successfully resolved ROS error RLException: [turtlebot3_fake.launch] is neither a launch file in package [turtlebot3_fake] .
ArbotiX+rviz function simulation .