运动控制实现流程

roslaunch urdf02_gazebo demo03_env.launch

启动gazebo仿真环境 demo03_env.launch

launch文件

<launch>
    
    <param name = "robot_description" command = "$(find xacro)/xacro $(find urdf02_gazebo)/urdf/car.urdf.xacro" />
    
    <include file = "$(find gazebo_ros)/launch/empty_world.launch">
        <arg name = "world_name" value = "$(find urdf02_gazebo)/worlds/box_house.world" />
    include>
    
    
    <node pkg = "gazebo_ros" type = "spawn_model" name = "spawn_model" args = "-urdf -model mycar -param robot_description"/>
launch>
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添加传动装置及控制器 move.xacro

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

    
    <xacro:macro name="joint_trans" params="joint_name">
        
        <transmission name="${joint_name}_trans">
            <type>transmission_interface/SimpleTransmissiontype>
            <joint name="${joint_name}">
                <hardwareInterface>hardware_interface/VelocityJointInterfacehardwareInterface>
            joint>
            <actuator name="${joint_name}_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterfacehardwareInterface>
                <mechanicalReduction>1mechanicalReduction>
            actuator>
        transmission>
    xacro:macro>

    
    <xacro:joint_trans joint_name="left2link" />
    <xacro:joint_trans joint_name="right2link" />

    
    <gazebo>
        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <rosDebugLevel>DebugrosDebugLevel>
            <publishWheelTF>truepublishWheelTF>
            <robotNamespace>/robotNamespace>
            <publishTf>1publishTf>
            <publishWheelJointState>truepublishWheelJointState>
            <alwaysOn>truealwaysOn>
            <updateRate>100.0updateRate>
            <legacyMode>truelegacyMode>
            <leftJoint>left2inkleftJoint> 
            <rightJoint>right2linkrightJoint> 
            <wheelSeparation>${base_radius * 2}wheelSeparation> 
            <wheelDiameter>${wheel_radius * 2}wheelDiameter> 
            <broadcastTF>1broadcastTF>
            <wheelTorque>30wheelTorque>
            <wheelAcceleration>1.8wheelAcceleration>
            <commandTopic>cmd_velcommandTopic> 
            <odometryFrame>odomodometryFrame> 
            <odometryTopic>odomodometryTopic> 
            <robotBaseFrame>base_footprintrobotBaseFrame> 
        plugin>
    gazebo>
robot>
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添加xacro集成文件 car.urdf.xacro

<robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
    
    <xacro:include filename = "head.xacro" />
    
    <xacro:include filename = "demo02_car_base.urdf.xacro" />
    <xacro:include filename = "demo03_car_camera.urdf.xacro" />
    <xacro:include filename = "demo04_car_laser.urdf.xacro" />
    
    <xacro:include filename = "gazebo/move.xacro" />
robot>
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Rviz 查看里程计消息

里程计: 机器人相对出发点坐标系的位姿状态(X 坐标 Y 坐标 Z坐标以及朝向)

启动Rviz demo04_sensor.launch

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

    
    <node pkg = "joint_state_publisher" type = "joint_state_publisher" name = "joint_state_publisher" />

    
    <node pkg = "robot_state_publisher" type = "robot_state_publisher" name = "robot_state_publisher" />

launch>
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source ./devel/setup.bash
roslaunch urdf02_gazebo demo03_env.launch
roslaunch urdf02_gazebo demo04_sensor.launch

添加组件

雷达 laser.xacro

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

  
  <gazebo reference="laser">
    <sensor type="ray" name="rplidar">
      <pose>0 0 0 0 0 0pose>
      <visualize>truevisualize>
      <update_rate>5.5update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360samples> 
            <resolution>1resolution>>
            <min_angle>-3min_angle>
            <max_angle>3max_angle>
          horizontal>
        scan>
        <range>
          <min>0.10min>
          <max>30.0max>
          <resolution>0.01resolution>
        range>
        <noise>
          <type>gaussiantype>
          <mean>0.0mean>
          <stddev>0.01stddev>
        noise>
      ray>
      <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
        <topicName>/scantopicName>
        <frameName>laserframeName>
      plugin>
    sensor>
  gazebo>
robot>
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摄像头 camera.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
  
  <gazebo reference="camera">
    
    <sensor type="camera" name="camera_node">
      <update_rate>30.0update_rate> 
      
      <camera name="head">
        <horizontal_fov>1.3962634horizontal_fov>
        <image>
          <width>1280width>
          <height>720height>
          <format>R8G8B8format>
        image>
        <clip>
          <near>0.02near>
          <far>300far>
        clip>
        <noise>
          <type>gaussiantype>
          <mean>0.0mean>
          <stddev>0.007stddev>
        noise>
      camera>
      
      <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">
        <alwaysOn>truealwaysOn>
        <updateRate>0.0updateRate>
        <cameraName>/cameracameraName>
        <imageTopicName>image_rawimageTopicName>
        <cameraInfoTopicName>camera_infocameraInfoTopicName>
        <frameName>cameraframeName>
        <hackBaseline>0.07hackBaseline>
        <distortionK1>0.0distortionK1>
        <distortionK2>0.0distortionK2>
        <distortionK3>0.0distortionK3>
        <distortionT1>0.0distortionT1>
        <distortionT2>0.0distortionT2>
      plugin>
    sensor>
  gazebo>
robot>
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rostopic pub -r 10 /cmd_vel 设置参数让机器人转动
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