GAZEBO仿真学习笔记(2)多Turtlebot gazebo 仿真

多 turtlebot 仿真

这里实现了三个turtlebot 在gazebo下的仿真

<launch>
  <arg name="gui"        default="true"/>
  <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
  <arg name="battery"    value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>


  <!-- BEGIN ROBOT 1-->
  <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
        
        <arg name="init_pose" value="-x 1 -y 1 -z 0" />
        <!-- <arg name="robot_name"  value="Robot1" /> -->
        <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'"/>
        <param name="robot_description" command="$(arg urdf_file)"/>

        <!-- Gazebo model spawner -->
        <node name="spawn_turtlebot_model_1" pkg="gazebo_ros" type="spawn_model"
                args="$(arg init_pose) -unpause -urdf -param robot_description -model mobile_base1"/>

        <!-- Velocity muxer -->
        <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager_1" args="manager"/>
        <node pkg="nodelet" type="nodelet" name="cmd_vel_mux_1"
                args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
            <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
            <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
        </node>

        <!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
        <!-- <include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/> -->

      <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher_1">
        <param name="publish_frequency" type="double" value="30.0" />
     </node>

    <!-- Fake laser -->
    <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager_1" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan_1"
            args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager_1">
        <param name="scan_height" value="10"/>
        <param name="output_frame_id" value="/robot1/camera_depth_frame"/>
        <param name="range_min" value="0.45"/>
        <remap from="image" to="/robot1/camera/depth/image_raw"/>
        <remap from="scan" to="/robot1/scan"/>
    </node>

  </group>

    <!-- BEGIN ROBOT 3 -->
  <group ns="robot3">
    <param name="tf_prefix" value="robot3_tf" />
        
        <arg name="init_pose" value="-x 1 -y 2 -z 0" />
        <!-- <arg name="robot_name"  value="Robot1" /> -->
        <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'"/>
        <param name="robot_description" command="$(arg urdf_file)"/>

        <!-- Gazebo model spawner -->
        <node name="spawn_turtlebot_model_3" pkg="gazebo_ros" type="spawn_model"
                args="$(arg init_pose) -unpause -urdf -param robot_description -model mobile_base3"/>

        <!-- Velocity muxer -->
        <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager_3" args="manager"/>
        <node pkg="nodelet" type="nodelet" name="cmd_vel_mux_3"
                args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
            <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
            <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
        </node>

        <!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
        <include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>

      <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher_3">
        <param name="publish_frequency" type="double" value="30.0" />
     </node>

  <!-- Fake laser -->
  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager_3" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan_3"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager_3">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/robot3/camera_depth_frame"/>
    <param name="range_min" value="0.45"/>
    <remap from="image" to="/robot3/camera/depth/image_raw"/>
    <remap from="scan" to="/robot3/scan"/>
  </node>

  </group>


  <!-- BEGIN ROBOT 2-->
  <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
        <arg name="base" value="$(arg base)"/>
        <arg name="stacks" value="$(arg stacks)"/>
        <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
        <!-- <arg name="init_pose" value="-x -1 -y 1 -z 0" />
        <arg name="robot_name"  value="Robot2" />  -->
    </include>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher_2">
        <param name="publish_frequency" type="double" value="30.0" />
    </node>

    <!-- Fake laser -->
    <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
            args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
        <param name="scan_height" value="10"/>
        <param name="output_frame_id" value="/robot2/camera_depth_frame"/>
        <param name="range_min" value="0.45"/>
        <remap from="image" to="/robot2/camera/depth/image_raw"/>
        <remap from="scan" to="/robot2/scan"/>
    </node>
  </group>


</launch>

• 实现完长这样
  
• tf_tree 长这样:

rosrun rqt_tf_tree rqt_tf_tree

• 控制移动:

rostopic pub /robot1/mobile_base/commands/velocity geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 

gazebo 中的机器人就会成功移动.

参考:
GAZEBO仿真学习笔记(1) urdf 编写 及rviz 可视化: https://blog.csdn.net/Fourier_Legend/article/details/98496266

Multiple robots simulation and navigation
https://answers.ros.org/question/41433/multiple-robots-simulation-and-navigation/

ROS nodelet的使用
https://www.cnblogs.com/21207-iHome/p/8213411.html