（古月居）ROS探索总结（六）使用smartcar进行仿真使用smartcar进行仿真——INDIGO版修正
1.刚开始学ROS，看的古月居的博客，写的很好。可能是时间比较久了，直接使用他的代码会出很多BUG。一边google一边试的，调了一晚上，忘了都改了哪些部分了，最终可以在rviz中显示车的模型了，但是还不能控制移动，先到这里，做下记录。
2.
他的博文原址：http://www.guyuehome.com/248
下面贴下我修改过后的代码：
urdf文件夹下
机器人主体：
smartcar_body.urdf.xacro
<robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro">
<property name="M_PI" value="3.14159"/>
<include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/>
<property name="base_x" value="0.33" />
<property name="base_y" value="0.33" />
<xacro:macro name="smartcar_body">
<link name="base_link">
<inertial>
<origin xyz="0 0 0.055"/>
<mass value="1.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
<visual>
<geometry>
<box size="0.25 .16 .05"/>
geometry>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
material>
visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<geometry>
<box size="0.25 .16 .05" />
geometry>
collision>
link>
<link name="left_front_wheel">
<inertial>
<origin xyz="0.08 0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
<material name="black">
<color rgba="0 0 0 1"/>
material>
visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
collision>
link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="left_front_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
joint>
<link name="right_front_wheel">
<inertial>
<origin xyz="0.08 -0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
<material name="black">
<color rgba="0 0 0 1"/>
material>
visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
collision>
link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="right_front_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
joint>
<link name="left_back_wheel">
<inertial>
<origin xyz="-0.08 0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
<material name="black">
<color rgba="0 0 0 1"/>
material>
visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
collision>
link>
<joint name="left_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="left_back_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
joint>
<link name="right_back_wheel">
<inertial>
<origin xyz="-0.08 -0.08 0.025"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
<material name="black">
<color rgba="0 0 0 1"/>
material>
visual>
<collision>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
collision>
link>
<joint name="right_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="right_back_wheel"/>
<origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
joint>
<link name="head">
<inertial>
<origin xyz="0.08 0 0.08"/>
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
<visual>
<geometry>
<box size=".02 .03 .03"/>
geometry>
<material name="white">
<color rgba="1 1 1 1"/>
material>
visual>
<collision>
<origin xyz="0.08 0 0.08"/>
<geometry>
<cylinder length=".02" radius="0.025"/>
geometry>
collision>
link>
<joint name="tobox" type="fixed">
<parent link="base_link"/>
<child link="head"/>
<origin xyz="0.08 0 0.08"/>
joint>
xacro:macro>
robot>gazebo属性部分：
gazebo.urdf.xacro
<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro="http://ros.org/wiki/xacro"
name="smartcar_gazebo">
<xacro:macro name="smartcar_sim">
<gazebo reference="base_link">
<material>Gazebo/Bluematerial>
gazebo>
<gazebo reference="right_front_wheel">
<material>Gazebo/FlatBlackmaterial>
gazebo>
<gazebo reference="right_back_wheel">
<material>Gazebo/FlatBlackmaterial>
gazebo>
<gazebo reference="left_front_wheel">
<material>Gazebo/FlatBlackmaterial>
gazebo>
<gazebo reference="left_back_wheel">
<material>Gazebo/FlatBlackmaterial>
gazebo>
<gazebo reference="head">
<material>Gazebo/Whitematerial>
gazebo>
xacro:macro>
robot>主文件：
smartcar.urdf.xacro
<robot name="smartcar"
xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://ros.org/wiki/xacro">
<include filename="$(find smartcar_description)/urdf/smartcar_body.urdf.xacro" />
<smartcar_body/>
<smartcar_sim/>
robot>launch文件夹下
启动节点和模拟器：
smartcar_display.rviz.launch
<launch>
<param name="/use_sim_time" value="false" />
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find smartcar_description)/urdf/smartcar.urdf.xacro'" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(arg urdf_file)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
<rosparam file="$(find smartcar_description)/config/smartcar_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
node>
<node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/urdf.rviz"/>
launch>config文件夹下
smartcar_arbotix.yaml
port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20
controllers: {
# Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
}好了，这样按理来说是能运行的，至少在我的电脑上可以。