ros2 foxy gazebo中加载世界以及机器
ros2中gazebo加载机器人的方式与ros1中有很大不同,一共有三种方式加载模型.
#使用-file 打开sdf文件
#使用-database需要先将模型路径添加到GAZEBO_MODEL_PATH ‘export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:model_path’ 而且模型需要参照gazebo中的标准写法才能成功加载
#使用-topic订阅机器人话题 话题由robot_state_publisher发布 其打开的是urdf文件
最后打开gazebo的.py文件如下:
import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
gazebo_dir = os.path.join(get_package_share_directory('gazebo_ros'),'launch')
# world = os.path.join(get_package_share_directory('gis_gazebo'), 'worlds', 'test.world')
urdf = os.path.join(
get_package_share_directory('gis_gazebo'),
'urdf','gis_car.urdf')
model_path = os.path.join(
get_package_share_directory('gis_gazebo'),
'models','pipe1.sdf')
use_sim_time = LaunchConfiguration('use_sim_time', default=True)
return LaunchDescription([
#退出gazebo时gzserver经常关不掉，所以打开gazebo前先关掉gzserver
ExecuteProcess(
cmd=['killall','-q', 'gzserver'],
output='screen'),
ExecuteProcess(
cmd=['killall','-q', 'gzclient'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([gazebo_dir, '/gzserver.launch.py']),
# launch_arguments={
# 'world': world
# }.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([gazebo_dir ,'/gzclient.launch.py'])),
#使用-file 打开sdf文件
#使用-database需要先将模型路径添加到GAZEBO_MODEL_PATH 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:model_path' 而且模型需要参照gazebo中的标准写法才能成功加载
#使用-topic订阅机器人话题 话题由robot_state_publisher发布 其打开的是urdf文件
Node(package='gazebo_ros', node_executable='spawn_entity.py',
arguments=[
'-x','0.0',
'-y','0.0',
'-z','2.0',
'-Y','0.0', #yaw
'-entity', 'car', #gazebo中机器命名
# '-database', 'cardboard_box',
# '-file',model_path,
'-topic','robot_description',
],
output='screen'),
Node(
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'publish_frequency':100.0},
],
arguments=[urdf]
),
])
其中 world模型可以先打开gazebo,随意创建模型后另存为world.
urdf文件如下:
cmd_vel
odom
odom
100.0
base_link
true
true
true
100
__default_topic__
imu
base_link
100.0
0.0
0 0 0
0 0 0
imu_link
0 0 0 0 0 0
0 0 0 0 0 0
true
20
360
1
-2.093
2.093
0.3
10
0.01
gaussian
0.0
0.005
/scan
scan_link
/test
joint_states:=joint_states_test
100
br_joint
bl_joint
fr_joint
fl_joint
sdf文件如下:
0 0 0 0 0 0
0 0 0 0 0 0
1.14395
0.126164
0
0
0.416519
0
0.481014
2.4 1.2 2
2.4 1.2 2
-1 -0.6 -1 -1.5707 0 0
2
0.145833
0
0
0.145833
0
0.125
0.35
0.35
1
1
0
0
0
0.2
1e+13
1
0.01
0.01
-1 0.6 -1 -1.5707 0 0
2
0.145833
0
0
0.145833
0
0.125
0.35
0.35
1
1
0
0
0
0.2
1e+13
1
0.01
0.01
1 -0.6 -1 -1.5707 0 0
2
0.145833
0
0
0.145833
0
0.125
0.35
0.35
1
1
0
0
0
0.2
1e+13
1
0.01
0.01
1 0.6 -1 -1.5707 0 0
2
0.145833
0
0
0.145833
0
0.125
0.35
0.35
1
1
0
0
0
0.2
1e+13
1
0.01
0.01
1 0.6 -1 -1.5707 0 0
base_footprint
base_link
0.0 0.0 0.00 0 0 0
base_link
fl_wheel
base_link
fr_wheel
base_link
bl_wheel
0 0 1
-1.79769e+308
1.79769e+308
base_link
br_wheel
0 0 1
-1.79769e+308
1.79769e+308
base_link
steering_wheel
0 0 1
-1.79769e+308
1.79769e+308
cmd_vel:=cmd_vel
odom:=odom
br_wheel_joint
bl_wheel_joint
1.2
0.7
20
1.0
true
true
true
odom
odom
base_footprint
joint_states:=joint_states
30
br_wheel_joint
bl_wheel_joint
0 0 1.2 0 0 0
0.2 0.2 0.2
0.2 0.2 0.2
100.0
true
true
20
720
0.5
-3.1415
3.1415
0.2
50.0
gaussian
0.0
0.01
~/out:=scan
sensor_msgs/LaserScan
base_link
ray_link
true
100
0.0
2e-4
0.0
2e-4
0.0
2e-4
0.0
1.7e-2
0.0
1.7e-2
0.0
1.7e-2
~/out:=imu
base_link
imu_link
0.0 0 0.0 0 0 0
0 0 1
0 0 10 0 0 0
true
30
0.0
2e-4
0.0
2e-4
~/out:=gps_data
base_link
gps_link