urdf文件很直白,每个零件的</link> </joint>都要编写一遍,每个零件数据都要自己算出来结果,很麻烦,但是用起来很简单。xacro写的模型文件可以把好多常量提前定义出来,不同大小的机器人只要只要改一下常量,机器人模型就可以重新生成,代码可以复用,编写起来简单多了,但是编写launch启动文件麻烦一些。
urdf编写的小车模型文件:
<!-- base.urdf -->
<?xml version="1.0" ?>
<robot name="jtbot">
<!-- 机器人底盘 -->
<link name="base_link">
<visual>
<geometry>
<box size="0.46 0.46 0.11"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<geometry>
<box size="0.46 0.46 0.11"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
<mass value="15"/>
<inertia ixx="0.279625" ixy="0.0" ixz="0.0" iyy="0.529" iyz="0.0" izz="0.279625"/>
</inertial>
</link>
<!-- 机器人 Footprint -->
<link name="base_footprint"/>
<!-- 底盘关节 -->
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="base_footprint"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.1325"/>
</joint>
<link name="left_wheel_link">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.06" radius="0.0775"/>
</geometry>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.06" radius="0.0775"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<mass value="0.8"/>
<inertia ixx="0.0014412499999999998" ixy="0" ixz="0" iyy="0.0014412499999999998" iyz="0" izz="0.0024025"/>
</inertial>
</link>
<!-- 轮子关节 -->
<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.15 0.27 -0.055"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.06" radius="0.0775"/>
</geometry>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.06" radius="0.0775"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<mass value="0.8"/>
<inertia ixx="0.0014412499999999998" ixy="0" ixz="0" iyy="0.0014412499999999998" iyz="0" izz="0.0024025"/>
</inertial>
</link>
<!-- 轮子关节 -->
<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel_link"/>
<origin rpy="0 0 0" xyz="0.15 -0.27 -0.055"/>
<axis xyz="0 1 0"/>
</joint>
<!-- 支撑轮 -->
<link name="caster_link">
<visual>
<geometry>
<sphere radius="0.03875"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03875"/>
</geometry>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.0003003125" ixy="0.0" ixz="0.0" iyy="0.0003003125" iyz="0.0" izz="0.0003003125"/>
</inertial>
</link>
<!-- 支撑轮gazebo颜色 -->
<gazebo reference="caster_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- 支撑轮gazebo摩擦力 -->
<gazebo reference="caster_link">
<mu1 value="0.0"/>
<mu2 value="0.0"/>
<kp value="1000000.0"/>
<kd value="10.0"/>
</gazebo>
<!-- 支撑轮关节 -->
<joint name="caster_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin rpy="0 0 0" xyz="-0.205 0.0 -0.09375"/>
</joint>
<!-- imu -->
<link name="imu_link">
<visual>
<geometry>
<box size="0.06 0.03 0.03"/>
</geometry>
</visual>
<!-- 碰撞区域 -->
<collision>
<geometry>
<box size="0.06 0.03 0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="0.0001666666666666667" ixy="0.0" ixz="0.0" iyy="0.0001666666666666667" iyz="0.0" izz="0.0001666666666666667"/>
</inertial>
</link>
<!-- imu关节 -->
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="-0.05 0 -0.055"/>
</joint>
<!-- imu仿真插件 -->
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<ros>
<!-- 命名空间 -->
<!-- <namespace>/demo</namespace> -->
<remapping>~/out:=imu</remapping>
</ros>
<!-- 初始方位_参考 -->
<initial_orientation_as_reference>false</initial_orientation_as_reference>
</plugin>
<always_on>true</always_on>
<!-- 更新频率 -->
<update_rate>100</update_rate>
<visualize>true</visualize>
<imu>
<!-- 角速度 -->
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<!-- 线性加速度 -->
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<!-- 差速驱动仿真插件 -->
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="diff_drive">
<ros>
<!-- 命名空间 -->
<!-- <namespace>/demo</namespace> -->
</ros>
<!-- 左右轮子 -->
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<!-- 轮距 轮子直径 -->
<wheel_separation>0.52</wheel_separation>
<!-- <wheel_separation>0.52</wheel_separation> -->
<wheel_diameter>0.155</wheel_diameter>
<!-- <wheel_diameter>0.155</wheel_diameter> -->
<!-- 最大扭矩 最大加速度 -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- 输出 -->
<!-- 是否发布里程计 -->
<publish_odom>true</publish_odom>
<!-- 是否发布里程计的tf开关 -->
<publish_odom_tf>true</publish_odom_tf>
<!-- 是否发布轮子的tf数据开关 -->
<publish_wheel_tf>true</publish_wheel_tf>
<!-- 里程计的framed ID,最终体现在话题和TF上 -->
<odometry_frame>odom</odometry_frame>
<!-- 机器人的基础frame的ID -->
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
<!-- 雷达 -->
<link name="laser">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.04"/>
</geometry>
</visual>
<!-- 惯性属性 -->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.125"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<!-- 碰撞区域 -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.04"/>
</geometry>
</collision>
</link>
<!-- 雷达关节 -->
<joint name="laser_joint" type="fixed">
<parent link="base_link"/>
<child link="laser"/>
<origin rpy="0 0 0" xyz="0.16 0 0.078"/>
</joint>
<gazebo reference="laser">
<sensor name="laser" type="ray">
<always_on>true</always_on>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>6.280000</max_angle>
</horizontal>
</scan>
<range>
<min>0.120000</min>
<max>3.5</max>
<resolution>0.015000</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_ray_sensor.so" name="scan">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser</frame_name>
</plugin>
</sensor>
</gazebo>
<!-- 相机 -->
<link name="camera_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.015 0.130 0.022"/>
</geometry>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.015 0.130 0.022"/>
</geometry>
</collision>
<!-- 惯性属性 -->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.035"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- 相机关节 -->
<joint name="camera_joint" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
<origin rpy="0 0 0" xyz="0.16 0 0.11"/>
</joint>
<!-- 深度相机 -->
<link name="camera_depth_frame"/>
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<!-- 相机仿真 -->
<gazebo reference="camera_depth_link">
<sensor name="depth_camera" type="depth">
<visualize>true</visualize>
<update_rate>30.0</update_rate>
<camera name="camera">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="depth_camera_controller">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<frame_name>camera_depth_frame</frame_name>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0</distortionK1>
<distortionK2>0</distortionK2>
<distortionK3>0</distortionK3>
<distortionT1>0</distortionT1>
<distortionT2>0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
</robot>
xacro编写的小车模型文件:
<!-- base.urdf.xacro -->
<?xml version="1.0"?>
<robot name="jtbot"
xmlns:xacro="http://ros.org/wiki/xacro">
<!-- 定义机器人常量 -->
<!-- 底盘 长 宽 高 -->
<xacro:property name="base_width" value="0.46"/>
<xacro:property name="base_length" value="0.46"/>
<xacro:property name="base_height" value="0.11"/>
<!-- 轮子半径 -->
<xacro:property name="wheel_radius" value="0.0775"/>
<!-- 轮子宽度 -->
<xacro:property name="wheel_width" value="0.06"/>
<!-- 轮子和底盘的间距 -->
<xacro:property name="wheel_ygap" value="0.01"/>
<!-- 轮子z轴偏移量 -->
<xacro:property name="wheel_zoff" value="0.055"/>
<!-- 轮子x轴偏移量 -->
<xacro:property name="wheel_xoff" value="0.15"/>
<!-- 支撑轮x轴偏移量 -->
<xacro:property name="caster_xoff" value="0.205"/>
<!-- 定义长方形惯性属性宏 -->
<xacro:macro name="box_inertia" params="m w h d">
<inertial>
<origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
<mass value="${m}"/>
<inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
</inertial>
</xacro:macro>
<!-- 定义圆柱惯性属性宏 -->
<xacro:macro name="cylinder_inertia" params="m r h">
<inertial>
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
<mass value="${m}"/>
<inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/>
</inertial>
</xacro:macro>
<!-- 定义球体惯性属性宏 -->
<xacro:macro name="sphere_inertia" params="m r">
<inertial>
<mass value="${m}"/>
<inertia ixx="${(2/5) * m * (r*r)}" ixy="0.0" ixz="0.0" iyy="${(2/5) * m * (r*r)}" iyz="0.0" izz="${(2/5) * m * (r*r)}"/>
</inertial>
</xacro:macro>
<!-- 机器人底盘 -->
<link name="base_link">
<visual>
<geometry>
<box size="${base_length} ${base_width} ${base_height}"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<geometry>
<box size="${base_length} ${base_width} ${base_height}"/>
</geometry>
</collision>
<!-- 惯性特性 -->
<xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
</link>
<!-- 机器人 Footprint -->
<link name="base_footprint"/>
<!-- 底盘关节 -->
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="base_footprint"/>
<origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>
</joint>
<!-- 创建轮子宏函数 -->
<xacro:macro name="wheel" params="prefix x_reflect y_reflect">
<link name="${prefix}_link">
<visual>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}"/>
</geometry>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}"/>
</geometry>
</collision>
<!-- 惯性属性 -->
<xacro:cylinder_inertia m="0.8" r="${wheel_radius}" h="${wheel_width}"/>
</link>
<!-- 轮子关节 -->
<joint name="${prefix}_joint" type="continuous">
<parent link="base_link"/>
<child link="${prefix}_link"/>
<origin xyz="${x_reflect*wheel_xoff} ${y_reflect*(base_width/2+wheel_width/2+wheel_ygap)} ${-wheel_zoff}" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
</xacro:macro>
<!-- 根据上面的宏函数实例化左右轮 -->
<xacro:wheel prefix="left_wheel" x_reflect="1" y_reflect="1" />
<xacro:wheel prefix="right_wheel" x_reflect="1" y_reflect="-1" />
<!-- 支撑轮 -->
<link name="caster_link">
<visual>
<geometry>
<sphere radius="${(wheel_radius/2)}"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${(wheel_radius/2)}"/>
</geometry>
</collision>
<!-- 惯性属性 -->
<xacro:sphere_inertia m="0.5" r="${(wheel_radius/2)}"/>
</link>
<!-- 支撑轮gazebo颜色 -->
<gazebo reference="caster_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- 支撑轮gazebo摩擦力 -->
<gazebo reference="caster_link">
<mu1 value="0.0"/>
<mu2 value="0.0"/>
<kp value="1000000.0" />
<kd value="10.0" />
</gazebo>
<!-- 支撑轮关节 -->
<joint name="caster_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin xyz="${-caster_xoff} 0.0 ${-(base_height+wheel_radius)/2}" rpy="0 0 0"/>
</joint>
<!-- imu -->
<link name="imu_link">
<visual>
<geometry>
<box size="0.06 0.03 0.03"/>
</geometry>
</visual>
<!-- 碰撞区域 -->
<collision>
<geometry>
<box size="0.06 0.03 0.03"/>
</geometry>
</collision>
<!-- 惯性属性 -->
<xacro:box_inertia m="0.1" w="0.1" d="0.1" h="0.1"/>
</link>
<!-- imu关节 -->
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="-0.05 0 -0.055"/>
</joint>
<!-- imu仿真插件 -->
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<ros>
<!-- 命名空间 -->
<!-- <namespace>/demo</namespace> -->
<remapping>~/out:=imu</remapping>
</ros>
<!-- 初始方位_参考 -->
<initial_orientation_as_reference>true</initial_orientation_as_reference>
</plugin>
<always_on>true</always_on>
<!-- 更新频率 -->
<update_rate>100</update_rate>
<visualize>true</visualize>
<imu>
<!-- 角速度 -->
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<!-- 线性加速度 -->
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<!-- 差速驱动仿真插件 -->
<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<!-- 命名空间 -->
<!-- <namespace>/demo</namespace> -->
</ros>
<!-- 左右轮子 -->
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<!-- 轮距 轮子直径 -->
<wheel_separation>${base_width+wheel_width}</wheel_separation>
<!-- <wheel_separation>0.52</wheel_separation> -->
<wheel_diameter>${wheel_radius*2}</wheel_diameter>
<!-- <wheel_diameter>0.155</wheel_diameter> -->
<!-- 最大扭矩 最大加速度 -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- 输出 -->
<!-- 是否发布里程计 -->
<publish_odom>true</publish_odom>
<!-- 是否发布里程计的tf开关 -->
<publish_odom_tf>true</publish_odom_tf>
<!-- 是否发布轮子的tf数据开关 -->
<publish_wheel_tf>true</publish_wheel_tf>
<!-- 里程计的framed ID,最终体现在话题和TF上 -->
<odometry_frame>odom</odometry_frame>
<!-- 机器人的基础frame的ID -->
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
<!-- 雷达 -->
<link name="laser">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.04" length="0.04"/>
</geometry>
</visual>
<!-- 惯性属性 -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.125"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
<!-- 碰撞区域 -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.04" length="0.04"/>
</geometry>
</collision>
</link>
<!-- 雷达关节 -->
<joint name="laser_joint" type="fixed">
<parent link="base_link"/>
<child link="laser"/>
<origin xyz="0.16 0 0.078" rpy="0 0 0"/>
</joint>
<gazebo reference="laser">
<sensor name="laser" type="ray">
<always_on>true</always_on>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>6.280000</max_angle>
</horizontal>
</scan>
<range>
<min>0.120000</min>
<max>3.5</max>
<resolution>0.015000</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser</frame_name>
</plugin>
</sensor>
</gazebo>
<!-- 相机 -->
<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.015 0.130 0.022"/>
</geometry>
</visual>
<!-- 碰撞区域 -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.015 0.130 0.022"/>
</geometry>
</collision>
<!-- 惯性属性 -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.035"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
</link>
<!-- 相机关节 -->
<joint name="camera_joint" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
<origin xyz="0.16 0 0.11" rpy="0 0 0"/>
</joint>
<!-- 深度相机 -->
<link name="camera_depth_frame"/>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<!-- 相机仿真 -->
<gazebo reference="camera_depth_link">
<sensor name="depth_camera" type="depth">
<visualize>true</visualize>
<update_rate>30.0</update_rate>
<camera name="camera">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<frame_name>camera_depth_frame</frame_name>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0</distortionK1>
<distortionK2>0</distortionK2>
<distortionK3>0</distortionK3>
<distortionT1>0</distortionT1>
<distortionT2>0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
</robot>
xacro模型文件需要转成urdf模型文件才能使用
方法1 提前转换:
当前文件夹打开终端输入:base.urdf.xacro > base.urdf生成纯urdf文件。
方法2 在运行launch文件的时候自动转,需要加入xacro解析步骤
package.xml文件内在<test_depend>前加入:<exec_depend>xacro</exec_depend>文章来源:https://www.toymoban.com/news/detail-654800.html
launch文件编写:文章来源地址https://www.toymoban.com/news/detail-654800.html
# 此launch文件是机器人仿真程序,包含 gazebo启动,机器人仿真生成,机器人模型状态发布
import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import LaunchConfiguration
import xacro
def generate_launch_description():
robot_name_in_model = 'jtbot' #机器人模型名字
package_name = 'jtbot_description' #模型包名
ld = LaunchDescription()
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
pkg_share = FindPackageShare(package=package_name).find(package_name)
gazebo_world_path = os.path.join(pkg_share, 'world/jt.world') #世界仿真文件路径
default_rviz_config_path = os.path.join(pkg_share, 'rviz/mrviz2.rviz') #rviz配置文件路径
urdf_xacro_file = os.path.join(pkg_share, 'urdf/jtbot_base.urdf.xacro') #xacro模型文件路径
#解析xacro模型文件
doc = xacro.parse(open(urdf_xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml()}
# 开启ros Gazebo server
start_gazebo_cmd = ExecuteProcess(
cmd=['gazebo',
'--verbose',
gazebo_world_path,
'-s', 'libgazebo_ros_init.so',
'-s', 'libgazebo_ros_factory.so',
],
output='screen')
# Start Robot State publisher
start_robot_state_publisher_cmd = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params,{'use_sim_time': use_sim_time}]
)
# gazebo内生成机器人
spawn_entity_cmd = Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-entity', robot_name_in_model, '-topic', 'robot_description'],
output='screen'
)
# Launch RViz
start_rviz_cmd = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', default_rviz_config_path]
)
ld.add_action(start_gazebo_cmd)
ld.add_action(spawn_entity_cmd)
ld.add_action(start_robot_state_publisher_cmd)
ld.add_action(start_rviz_cmd)
return ld
到了这里,关于xacro机器人模型文件转urdf文件怎么编写launch文件启动gazebo仿真和在rviz2内显示模型的文章就介绍完了。如果您还想了解更多内容,请在右上角搜索TOY模板网以前的文章或继续浏览下面的相关文章,希望大家以后多多支持TOY模板网!