ROS中新建多轴机器人模型（urdf）并用rviz显示
ROS中新建机器人模型并用rviz显示
步骤
1.新建并编辑urdf文件
2.新建并编辑.launch文件
3.显示urdf
（1）新建urdf文件
1）cd到~/dev/workspace/目录,使用命令创建包工作区roscreate-pkg robot1pkg urdf
2）将包的工作区赋值给ROS-_PACKAGE_PATH变量
vim ~/.bash-profile
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/dev/workspace/robot1pkg
3）编辑urdf文件如下
<robot name="robot1">
<link name="base_link">
<visual>
<geometry>
<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>
<collision>
<geometry>
<box size="0.2 .3 0.1"/>
geometry>
collision>
<inertial>
<mass value="100"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
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>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
geometry>
collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
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>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
geometry>
collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
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>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
geometry>
collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
inertial>
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>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
geometry>
collision>
<inertial>
<mass value="10"/>
<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_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>
<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>
robot>（2）编辑.launch文件
在urdfdisplay.launch文件加入如下内容：
<launch>
<arg name="model" />
<arg name="gui" default="False" />
<param name="robot_description" textfile="$(find robot1pkg)/urdf/robot1.urdf" />
<param name="use_gui" value="$(arg gui)"/>
<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" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
launch>（3）显示urdf
使用命令roslaunch robot1pkg urdfdisplay.launch gui:=true启动rviz显示
如图所示
