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本文介绍: 本文为11 月 25 日 ROS 学习笔记——3D 建模与仿真，分为两个章节：- 在 ROS 中自定义机器人的3D模型，- Gazebo

文章目录

前言

本文为11 月 25 日 ROS 学习笔记——3D 建模与仿真，分为两个章节：

一、在 ROS 中自定义机器人的3D模型

<robot name="Robot1">
    <link name="base_link">
        <visual>
            <geometry&gt;
                <box size="0.2 .3 .1" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05" />
            <material name="white">
                <color rgba="1 1 1 1" />
            </material>
        </visual>
    </link>
    <link name="wheel_1">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05" />
            </geometry>
            <origin rpy="0 1.5 0" xyz="0.1 0.1 0" />
            <material name="black">
                <color rgba="0 0 0 1" />
            </material>
        </visual>
    </link>
    <link name="wheel_2">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05" />
            </geometry>
            <origin rpy="0 1.5 0" xyz="-0.1 0.1 0" />
            <material name="black" />
        </visual>
    </link>
    <link name="wheel_3">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05" />
            </geometry>
            <origin rpy="0 1.5 0" xyz="0.1 -0.1 0" />
            <material name="black" />
        </visual>
    </link>
    <link name="wheel_4">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05" />
            </geometry>
            <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0" />
            <material name="black" />
        </visual>
    </link>
    <joint name="base_to_wheel1" type="fixed">
        <parent link="base_link" />
        <child link="wheel_1" />
        <origin xyz="0 0 0" />
    </joint>
    <joint name="base_to_wheel2" type="fixed">
        <parent link="base_link" />
        <child link="wheel_2" />
        <origin xyz="0 0 0" />
    </joint>
    <joint name="base_to_wheel3" type="fixed">
        <parent link="base_link" />
        <child link="wheel_3" />
        <origin xyz="0 0 0" />
    </joint>
    <joint name="base_to_wheel4" type="fixed">
        <parent link="base_link" />
        <child link="wheel_4" />
        <origin xyz="0 0 0" />
    </joint>
</robot>

check_urdf robot1.urdf 
>>> robot name is: Robot1
	---------- Successfully Parsed XML ---------------
	root Link: base_link has 4 child(ren)
	    child(1):  wheel_1
	    child(2):  wheel_2
	    child(3):  wheel_3
	    child(4):  wheel_4

urdf_to_graphiz robot1.urdf 
>>> Created file Robot1.gv
	Created file Robot1.pdf

evince Robot1.pdf

在这里插入图片描述

1. 在 rviz 里查看3D模型

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)" />
    <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" />
</launch>

roslaunch robot1_description display.launch model:="$(rospack find robot1_description)/urdf/robot1.urdf"

请添加图片描述

</joint>
	<link name="arm_base">
<visual>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>

<collision>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>

<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

<joint name="base_to_arm_base" type="continuous">
<parent link="base_link"/>
<child link="arm_base"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0"/>
</joint>

<link name="arm_1">
<visual>
<geometry>
<box size="0.05 .05 0.5"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.25"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.05 .05 0.5"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

<joint name="arm_1_to_arm_base" type="revolute">
<parent link="arm_base"/>
<child link="arm_1"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0 0.15"/>
<limit effort ="1000.0" lower="-1.0" upper="1.0" velocity="0.5"/>
</joint>
<link name="arm_2">
<visual>
<geometry>
<box size="0.05 0.05 0.5"/>
</geometry>
<origin rpy="0 0 0" xyz="0.06 0 0.15"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.05 .05 0.5"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="arm_2_to_arm_1" type="revolute">
<parent link="arm_1"/>
<child link="arm_2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.0 0 0.45"/>
<limit effort ="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>
</joint>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 -1.57 0" xyz="0.06 0 0.4"/>
<parent link="arm_2"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 -1.57 0" xyz="0.06 0 0.4"/>
<parent link="arm_2"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

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<joint name="arm_1_to_arm_base" type="revolute">
	<parent link="arm_base"/>
	<child link="arm_1"/>
	<axis xyz="1 0 0"/>
	<origin xyz="0 0 0.15"/>
	<limit effort ="1000.0" lower="-1.0" upper="1.0" velocity="0.5"/>
</joint>

2. xacro

Xacro 可帮助我们压缩 URDF 文件的大小， 增加文件的可读性和可维护性。它还允许我们创建模型并复用这些模型以创建相同的结构，如更多的手臂和腿.

<xacro:property name="length_wheel" value="0.05" />
<xacro:property name="radius_wheel" value="0.05" />

${name_of_variable}:
<cylinder length="${length_wheel}" radius="${radius_wheel}" />

rosrun xacro xacro demo01_helloworld.urdf.xacro
>>> <robot name="mycar">
	  <link name="left_wheel">
	    <visual>
	      <geometry>
	        <cylinder length="0.0015" radius="0.0325"/>
	      </geometry>
	      <origin rpy="1.57079635 0 0" xyz="0 0 0"/>
	      <material name="wheel_color">
	        <color rgba="0 0 0 0.3"/>
	      </material>
	    </visual>
	  </link>
	  <!-- 3-2.joint -->
	  <joint name="left2link" type="continuous">
	    <parent link="base_link"/>
	    <child link="left_wheel"/>
	    <!-- 
	                x 无偏移
	                y 车体半径
	                z z= 车体高度 / 2 + 离地间距 - 车轮半径
	
	            -->
	    <origin rpy="0 0 0" xyz="0 0.1 -0.0225"/>
	    <axis xyz="0 1 0"/>
	  </joint>
	  <link name="right_wheel">
	    <visual>
	      <geometry>
	        <cylinder length="0.0015" radius="0.0325"/>
	      </geometry>
	      <origin rpy="1.57079635 0 0" xyz="0 0 0"/>
	      <material name="wheel_color">
	        <color rgba="0 0 0 0.3"/>
	      </material>
	    </visual>
	  </link>
	  <!-- 3-2.joint -->
	  <joint name="right2link" type="continuous">
	    <parent link="base_link"/>
	    <child link="right_wheel"/>
	    <!-- 
            x 无偏移
            y 车体半径
            z z= 车体高度 / 2 + 离地间距 - 车轮半径

        -->
	    <origin rpy="0 0 0" xyz="0 -0.1 -0.0225"/>
	    <axis xyz="0 1 0"/>
	  </joint>
	</robot>

rosrun xacro xacro demo01_helloworld.urdf.xacro > demo01_helloworld.urdf

<xacro:property name="PI" value="3.1415927" />
<xacro:property name="radius" value="0.03" />

<!-- 属性调用 -->
<myUsePropertyxxx name="${PI}" />
<myUsePropertyxxx name="${radius}" />

rosrun xacro xacro demo02_field.urdf.xacro
>>> <robot name="mycar">
	  <!-- 属性调用 -->
	  <myUsePropertyxxx name="3.1415927"/>
	  <myUsePropertyxxx name="0.03"/>
	  <!-- 数学运算 -->
	</robot>
	
<!-- 数学运算 -->
<myUsePropertyyy result="${PI / 2}" />

rosrun xacro xacro demo02_field.urdf.xacro
>>> <robot name="mycar">
	  <!-- 属性调用 -->
	  <myUsePropertyxxx name="3.1415927"/>
	  <myUsePropertyxxx name="0.03"/>
	  <!-- 数学运算 -->
	  <myUsePropertyyy result="1.57079635"/>
	</robot>
  • 宏
<!-- 宏定义 -->
<xacro:macro name="getSum" params="num1 num2">
     <result value="${num1 + num2}" />
</xacro:macro>

<!-- 宏调用 -->
<xacro:getSum num1="1" num2="5" />

>>> rosrun xacro xacro demo03_macro.urdf.xacro
<robot name="mycar">
  <result value="6"/>
</robot>


<xacro:include filename="demo02_field.urdf.xacro" />
<xacro:include filename="demo03_macro.urdf.xacro" />

rosrun xacro xacro demo04_sum.urdf.xacro
>>> <robot name="mycar">
	  <!-- 属性调用 -->
	  <myUsePropertyxxx name="3.1415927"/>
	  <myUsePropertyxxx name="0.03"/>
	  <!-- 数学运算 -->
	  <myUsePropertyyy result="1.57079635"/>
	  <result value="6"/>
	</robot>

<param name="robot_description" command="$(find xacro)/xacro $(find urdf01_rviz)/urdf/xacro/demo05_car_base.urdf.xacro" />

<launch>
    <!-- 载入 urdf 至参数服务器 -->
    <!-- <param name="robot_description" textfile="$(find urdf01_rviz)/urdf/xacro/demo05_car_base.urdf" /> -->
    <param name="robot_description" command="$(find xacro)/xacro $(find urdf01_rviz)/urdf/xacro/car.urdf.xacro" />

    <!-- 启动 rviz -->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" />
    <!-- 添加关节状态发布节点 -->
    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" />
    <!-- 机器人状态发布节点 -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
    <!-- 集成 arbotix 运动控制节点 -->
    <node pkg="arbotix_python" type="arbotix_driver" name="driver" output="screen">
        <rosparam command="load" file="$(find urdf01_rviz)/config/control.yaml" />
        <param name="sim" value="true" />
    </node>
</launch>

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0"

请添加图片描述

二、Gazebo

1. urdf 集成 gazebo

<robot name="mycar">
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.5 0.2 0.1" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="yellow">
                <color rgba="0.5 0.3 0.0 1" />
            </material>
        </visual>
        <collision>
            <geometry>
                <box size="0.5 0.2 0.1" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <inertial>
            <origin xyz="0 0 0" />
            <mass value="6" />
            <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
        </inertial>
    </link>
    <gazebo reference="base_link">
        <material>Gazebo/Red</material>
    </gazebo>

</robot>

<launch>
    <!-- 载入 urdf 至参数服务器 -->
    <param name="robot_description" textfile="$(find urdf02_gazebo)/urdf/demo01_helloworld.urdf" />
    <!-- 启动 Gazebo -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" />
    <!-- 添加机器人模型 -->
    <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -model mycar -param robot_description" />
</launch>

请添加图片描述

<launch>
    <!-- 载入 urdf 至参数服务器 -->
    <param name="robot_description" command="$(find xacro)/xacro $(find urdf02_gazebo)/urdf/car.urdf.xacro" />
    <!-- 启动 Gazebo -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="${find urdf02_gazebo}/worlds/box_house.world" />
    </include>

    <!-- 添加机器人模型 -->
    <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -model mycar -param robot_description" />
</launch>

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2. 综合应用

1). 运动控制及里程计

<robot name="my_car_move" xmlns:xacro="http://wiki.ros.org/xacro">

    <!-- 传动实现:用于连接控制器与关节 -->
    <xacro:macro name="joint_trans" params="joint_name">
        <!-- Transmission is important to link the joints and the controller -->
        <transmission name="${joint_name}_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${joint_name}">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            </joint>
            <actuator name="${joint_name}_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>

    <!-- 每一个驱动轮都需要配置传动装置 -->
    <xacro:joint_trans joint_name="base_l_wheel_joint" />
    <xacro:joint_trans joint_name="base_r_wheel_joint" />

    <!-- 控制器 -->
    <gazebo>
        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <rosDebugLevel>Debug</rosDebugLevel>
            <publishWheelTF>true</publishWheelTF>
            <robotNamespace>/</robotNamespace>
            <publishTf>1</publishTf>
            <publishWheelJointState>true</publishWheelJointState>
            <alwaysOn>true</alwaysOn>
            <updateRate>100.0</updateRate>
            <legacyMode>true</legacyMode>
            <leftJoint>base_l_wheel_joint</leftJoint> <!-- 左轮 -->
            <rightJoint>base_r_wheel_joint</rightJoint> <!-- 右轮 -->
            <wheelSeparation>${base_radius * 2}</wheelSeparation> <!-- 车轮间距 -->
            <wheelDiameter>${wheel_radius * 2}</wheelDiameter> <!-- 车轮直径 -->
            <broadcastTF>1</broadcastTF>
            <wheelTorque>30</wheelTorque>
            <wheelAcceleration>1.8</wheelAcceleration>
            <commandTopic>cmd_vel</commandTopic> <!-- 运动控制话题 -->
            <odometryFrame>odom</odometryFrame> 
            <odometryTopic>odom</odometryTopic> <!-- 里程计话题 -->
            <robotBaseFrame>base_footprint</robotBaseFrame> <!-- 根坐标系 -->
        </plugin>
    </gazebo>

</robot>

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0"

请添加图片描述

<launch>
    <!-- 启动 rviz -->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" />

    <!-- 添加关节状态发布节点 -->
    <!-- <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" /> -->
    <!-- 机器人状态发布节点 -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
    
</launch>

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2). 雷达仿真

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

    <!-- 雷达 -->
    <gazebo reference="laser">
      <sensor type="ray" name="rplidar">
        <pose>0 0 0 0 0 0</pose>
        <visualize>true</visualize>
        <update_rate>5.5</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1</resolution>
              <min_angle>-3</min_angle>
              <max_angle>3</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>0.01</stddev>
          </noise>
        </ray>
        <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
          <topicName>/scan</topicName>
          <frameName>laser</frameName>
        </plugin>
      </sensor>
    </gazebo>
  
  </robot>

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3). 摄像头信息仿真

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
    <!-- 被引用的link -->
    <gazebo reference="camera">
      <!-- 类型设置为 camara -->
      <sensor type="camera" name="camera_node">
        <update_rate>30.0</update_rate> <!-- 更新频率 -->
        <!-- 摄像头基本信息设置 -->
        <camera name="head">
          <horizontal_fov>1.3962634</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.02</near>
            <far>300</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <!-- 核心插件 -->
        <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>/camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </gazebo>
  </robot>

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4). kinect 深度相机仿真

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
    <gazebo reference="support">  
      <sensor type="depth" name="camera">
        <always_on>true</always_on>
        <update_rate>20.0</update_rate>
        <camera>
          <horizontal_fov>${60.0*PI/180.0}</horizontal_fov>
          <image>
            <format>R8G8B8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8.0</far>
          </clip>
        </camera>
        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>support</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
      </sensor>
    </gazebo>

</robot>

请添加图片描述

5). 点云

<frameName>support_depth</frameName>

<!-- 点云坐标系到 kinect 连杆坐标系的变换 -->
<node pkg="tf2_ros" name="static_transform_publisher" type="static_transform_publisher" args="0 0 0 -1.57 0 -1.57 /support /support_depth" />

请添加图片描述

原文地址:https://blog.csdn.net/Ashen_0nee/article/details/134485741

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