ROS创建简单的机器人模型smartcar

创建简单的机器人模型smartcar一、创建硬件描述包roscreat-pkgsmartcar_descriptionurdf二、智能车尺寸数据一因为建立的是一个非常简单的机器人，所以我们尽量使用简单的元素：使用长方体代替车模，使用圆柱代替车轮，具体尺寸如下：三、建立urdf文件在smartcar_description文件夹下建立urdf文件夹，创建智能车的描述文件smartcar.urdf,描述代码如下：<?xmlversion="1.0"?><robotname="smartcar"><linkname="base_link"><visual><geometry><boxsize="5"/></geometry><originrpy="001.57075"xyz="000"/><materialname="blue"><colorrgba="00.81"/></material></visual></link><linkname="right_front_wheel"><visual><geometry><cylinderlength=".02"radius="0.025"/></geometry><materialname="black"><colorrgba="0001"/></material></visual></link><jointname="right_front_wheel_joint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="right_front_wheel"/><originrpy="O1.570750"xyz="0.080.1-0.03"/><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0"/></joint><linkname="right_back_wheel"><visual><geometry><cylinderlength=".O2"radius="0.025"/></geometry><materialname="black"><colorrgba="0001"/></material></visual></link><jointname="right_back_wheeljoint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="right_back_wheel"/><originrpy="O1.570750"xyz="0.08-0.1-0.03'7><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0"/></joint><linkname="left_front_wheel"><visual><geometry><cylinderlength=".O2"radius="0.025"/></geometry><materialname="black"><colorrgba="0001"/></material></visual></link><jointname="left_front_wheelJoint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="left_front_wheel"/><originrpy="O1.570750"xyz="-0.080.1-0.03'7><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0'7></joint><linkname="left_back_wheel"><visual><geometry><cylinderlength=".02"radius="0.025"/></geometry><materialname="black"><colorrgba="0001"/></material></visual></link><jointname="left_back_wheel_joint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="left_back_wheel"/><originrpy="01.570750"xyz="-0.08-0.1-0.03”/><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0"/></joint><linkname="head"><visual><geometry><boxsize=".02.03.03"/></geometry><materialname="white"><colorrgba="1111"/></material></visual></link><jointname="tobox"type="fixed"><parentlink="base_link"/><childlink="head"/><originxyz="00.080.025"/></joint></robot>四、建立launch命令文件在smartcar_description文件夹下建立launch文件夹，创建智能车的描述文件base.urdf.rviz.launch,描述代码如下：<launch><argname="model"/><argname="gui"default="False"/><paramname="robot_description"textfile="$(findsmartcar_description)/urdf/smartcar.urdf"/><paramname="use_gui"value="$(arggui)"/><nodename="joint_state_publisher"pkg="joint_state_publisher"type="joint_state_publisher"></node><nodename="robot_state_publisher"pkg="robot_state_publisher"type="state_publisher"/>

<nodename="rviz"pkg="rviz"type="rviz"args="-d$(findurdf_tutorial)/urdf.vcg"/></launch>五、效果演示在终端中输入显示命令：roslaunchsmartcar_descriptionbase.urdf.rviz.launchgui:=true显示效果如下图所示，使用gui中的控制bar可以控制四个轮子单独旋转JDMl*IlEmlCrJwH断WCirt,ZtiNwtewiBKhgraiH.n*edR1IP</Wm-IIfA.fjBiqpcIirjw«b.f.nhH・•；JDMl*IlEmlCrJwH断WCirt,ZtiNwtewiBKhgraiH.n*edR1IP</Wm-IIfA.fjBiqpcIirjw«b.f.nhH・•；阊「*MWOKfciferEACieNH-ftuMOU4CjflligrFMw*■OffsetnnsL«wjaasLlpddErNIC十七irrmfii»LittkS.mAi4W«il*ZCEHiiWfllgpcntuiciauamm一、模型完善之前我们使用的都是urdf文件格式的模型，在很多情况下，ROS寸urdf文件的支持并不是很好，使用宏定义的.xacro文件兼容性更好，扩展性也更好。所以我们把之前的urdf文件重新整理编写成.xacro文件。.xacro文件主要分为三部分：1、机器人主体<?xmlversion="1.0"?><robotname="smartcar"xmlns:xacro="/wiki/xacro"><propertyname="M_PI"value="3.14159"/><!--MacroforSmartCarbody.IncludingGazeboextensions,butdoesnotincludeKinect--><includefilename="$(findsmartcar_description)/urdf/gazebo.urdf.xacro"/><propertyname="base_x"value="0.33"/><propertyname="base_y"value="0.33"/><xacro:macroname="smartcar_body"><linkname="base_link"><inertial><originxyz="000.055"/><massvalue="1.0"/><inertiaixx="1.0"ixy="0.0"ixz="0.0"iyy="1.0"iyz="0.0"izz="1.0"/></inertial><visual><geometry><boxsize="0.25,16.05'7></geometry><originrpy="O00"xyz="000.055"/><materialname="blue"><colorrgba="00.81'7></material></visual><collision><originrpy="000"xyz="000.055"/><geometry><boxsize="5"/></geometry></collision></link><linkname="left_front_wheel"><inertial><originxyz="0.080.080.025"/><massvalue="0.1"/><inertiaixx="1.0"ixy="0.0"ixz="0.0"iyy="1.0"iyz="0.0"izz="1.0"/></inertial><visual><geometry><cylinderlength-'.02"radius="0.025"/></geometry><materialname="black"><colorrgba="0001'7></material></visual><collision><originrpy="01.570751.57075"xyz="0.080.080.025'7><geometry><cylinderlength-'.02"radius="0.025"/></geometry></collision></link><jointname="left_front_wheeljoint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="left_front_wheel'7><originrpy="01.570751.57075"xyz="0.080.080.025"/><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0"/></joint><linkname="right_front_wheel"><inertial><originxyz="0.08-0.080.025"/><massvalue="0.1"/><inertiaixx="1.0"ixy="0.0"ixz="0.0"iyy="1.0"iyz="0.0"izz="1.0"/></inertial><visual><geometry><cylinderlength-'.02"radius="0.025"/></geometry><materialname="black"><colorrgba="0001'7></material></visual><collision><originrpy="01.570751.57075"xyz="0.08-0.080.025'7><geometry><cylinderlength-'.02"radius="0.025"/></geometry></collision></link><jointname="right_front_wheelJoint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="right_front_wheel"/><originrpy="O1.570751.57075"xyz="0.08-0.080.025"/><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0'7></joint><linkname="left_back_wheel"><inertial><originxyz="-0.080.080,025"/><massvalue="0.1"/><inertiaixx="1.0"ixy="0.0"ixz="0.0"iyy="1.0"iyz="0.0"izz="1.0"/></inertial><visual><geometry><cylinderlength-'.02"radius="0.025"/></geometry><materialname="black"><colorrgba="0001"/></material><collision><originrpy="O1.570751.57075"xyz="-0.080.080.025'7><geometry><cylinderlength-'.02"radius="0.025"/></geometry></collision></link><jointname="left_back_wheelJoint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="left_back_wheel"/><originrpy="O1.570751.57075"xyz="-0.080.080.025"/><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0'7></joint><linkname="right_back_wheel"><inertial><originxyz="-0.08-0.080.025'7><massvalue="0.1"/><inertiaixx="1.0"ixy="0.0"ixz="0.0"iyy="1.0"iyz="0.0"izz="1.0"/></inertial><visual><geometry><cylinderlength-'.02"radius="0.025"/></geometry><materialname="black"><colorrgba="0001"/></material></visual><collision><originrpy="O1.570751.57075"xyz="-0.08-0.080.025"/><geometry><cylinderlength-'.02"radius="0.025"/></geometry></collision></link><jointname="right_back_wheeljoint"type="continuous"><axisxyz="001"/><parentlink="base_link"/><childlink="right_back_wheel'7><originrpy="O1.570751.57075"xyz="-0.08-0.080.025"/><limiteffort="100"velocity="100"/><joint_propertiesdamping="0.0"friction="0.0'7></joint><linkname="head"><inertial><originxyz="0.0800.08"/><massvalue="0.1"/><inertiaixx="1.0"ixy="0.0"ixz="0.0"iyy="1.0"iyz="0.0"izz="1.0"/></inertial><visual><geometry><boxsize=".02.03.03”/></geometry><materialname="white"><colorrgba="1111"/></material></visual><collision><originxyz="0.0800.08"/><geometry><cylinderlength=".02"radius="0.025"/></geometry></collision></link><jointname="tobox"type="fixed">〈parentlink="base_link"/><childlink="head"/><originxyz="0.0800.08"/></joint></xacro:macro></robot>2、gazebo属性部分<?xmlversion="1.0"?><robotxmlns:controller="http:〃/gazebo/xmlschema/#controller"xmlns:interface="http:〃/gazebo/xmlschema/#interface"xmlns:sensor="http:〃/gazebo/xmlschema/#sensor"xmlns:xacro="/wiki/xacro"name="smartcar_gazebo"><!--ASUSXtionPROcameraforsimulation--><!--gazebo_ros_wge100pluginisinkt2_gazebo_pluginspackage--><xacro:macroname="smartcar_sim"><gazeboreference="base_link"><material>Gazebo/Blue</material></gazebo><gazeboreference="right_front_wheel"><material>Gazebo/FlatBlack</material></gazebo><gazeboreference="right_back_wheel"><material>Gazebo/FlatBlack</material></gazebo><gazeboreference="left_front_wheel"><material>Gazebo/FlatBlack</material></gazebo><gazeboreference="left_back_wheel"><material>Gazebo/FlatBlack</material></gazebo><gazeboreference="head"><material>Gazebo/White</material></gazebo></xacro:macro></robot>3、主文件<?xmlversion="1.0"?><robotname="smartcar"><includefilename="$(findsmartcar_description)/urdf/smartcar_body.urdf.xacro"/><!--BodyofSmartCar,withplates,standoffsandCreate(includingsimsensors)--><smartcar_body/><smartcar_sim/></robot>二、lanuch文件在launch文件中要启动节点和模拟器。<launch><paramname="/use_sim_time"value="false"/><!--LoadtheURDF/Xacromodelofourrobot--><argname="urdf_file"default="$(findxacro)/xacro.py'$(findsmartcar_description)/urdf/smartcar.urdf.xacro'"/><argname="gui"default="false"/><paramname="robot_description"command="$(argurdf_file)"/><paramname="use_gui"value="$(arggui)"/><nodename="arbotix"pkg="arbotix_python"type="driver.py"output="screen"><rosparamfile="$(findsmartcar_description)/config/smartcar_arb