1.1 ROS中新建机器人模型（urdf And xacro并用rviz显示
1.1 ROS中新建机器人模型（urdf And xacro并用rviz显示
- 新建workspace 和 package
- urdf 篇
- xacro篇
- Attention
基于以下博客修改并批注：可参考
https://blog.csdn.net/ktigerhero3/article/details/64439815
https://blog.csdn.net/ktigerhero3/article/details/64922802
新建workspace 和 package
在终端输入如下命令
// type in the terminator
mkdir -p smartcar_description/src
cd smartcar_description/src
// package name
catkin_create_pkg smartcar_description
cd smartcar_description
mkdir urdf launch
urdf 篇
在urdf文件中添加smartcar.urdf 文件
<?xml version="1.0"?>
<robot name="smartcar">
<link name="base_link">
<visual>
<geometry>
<box size="0.25 .16 .05"/>
</geometry>
<origin rpy="0 0 1.57075" xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</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 0" xyz="0.08 0.1 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="right_back_wheel">
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</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 0" xyz="0.08 -0.1 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_front_wheel">
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</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 0" xyz="-0.08 0.1 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_back_wheel">
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</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 0" xyz="-0.08 -0.1 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="head">
<visual>
<geometry>
<box size=".02 .03 .03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="tobox" type="fixed">
<parent link="base_link"/>
<child link="head"/>
<origin xyz="0 0.08 0.025"/>
</joint>
</robot>
在launch文件中添加base.urdf.rviz.launch文件
// type in the terminator
<launch>
<arg name="model" />
<arg name="gui" default="False" />
<param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" />
<param name="use_gui" value="$(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 $(find smartcar_description)/urdf.rviz" />
</launch>
编译并运行
catkin_make
source devel/setup.bash
roslaunch smartcar_description base.urdf.rviz.launch
注意：
<param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" />
和
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find smartcar_description)/urdf/smartcar.urdf' "/>
具有同样的效果，但一般使用第二个。(注意：xacro.py已弃用，且使用 --inorder )
xacro篇
在urdf文件中添加robot1_base.xacro文件
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="robot0">
<xacro:property name="length_wheel" value="0.05" />
<xacro:property name="radius_wheel" value="0.05" />
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
</xacro:macro>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<xacro:default_inertial mass="0.0001"/>
</link>
<gazebo reference="base_footprint">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<geometry>
<box size="0.2 .3 .1"/>
</geometry>
<origin rpy="0 0 1.54" xyz="0 0 0.05"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2 .3 0.1"/>
</geometry>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<link name="wheel_1">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="wheel_2">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="wheel_3">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="wheel_4">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0" />
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<joint name="base_to_wheel1" type="continuous">
<parent link="base_link"/>
<child link="wheel_1"/>
<origin rpy="1.5707 0 0" xyz="0.1 0.15 0"/>
<axis xyz="0 0 1" />
</joint>
<joint name="base_to_wheel2" type="continuous">
<axis xyz="0 0 1" />
<anchor xyz="0 0 0" />
<limit effort="100" velocity="100" />
<parent link="base_link"/>
<child link="wheel_2"/>
<origin rpy="1.5707 0 0" xyz="-0.1 0.15 0"/>
</joint>
<joint name="base_to_wheel3" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="wheel_3"/>
<origin rpy="1.5707 0 0" xyz="0.1 -0.15 0"/>
</joint>
<joint name="base_to_wheel4" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="wheel_4"/>
<origin rpy="1.5707 0 0" xyz="-0.1 -0.15 0"/>
</joint>
</robot>
在launch文件中添加
display_xacro.launch文件
<launch>
<arg name="model" />
<arg name="gui" default="False" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find smartcar_description)/urdf/robot1_base.xacro'" />
<param name="use_gui" value="$(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>
注意：
launch 文件中的package name “smartcar_description” 要与自己设置的package name 一致。
编译并运行
catkin_make
source devel/setup.bash
roslaunch smartcar_description display_xacro.launch
如果想显示joint_state_publisher对话框（通过对话框调节关节角度）type follow:
roslaunch smartcar_description display_xacro.launch gui:=true
注意：
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
打开rviz并显示。（需要指定rviz配置文件，不指定不会出错，需要添加Add RobotModel并将其head选择为fixed frame）
如果没有上面一行，需要type in temrinal :
rosrun rviz rviz
Attention
特别注意：
对于浮动机座机器人来说，不要设置world无意义的连杆。下面代码不允许出现。
《也许其在RBDL计算动力学中是有用的》
<link name="world"> </link>
<joint
name="world_base_joint"
type="floating">
<origin
xyz="-0.8 0.5 0.9"
rpy="0 0 0" />
<parent
link="world" />
<child
link="torsor" />
</joint>